Assembly for and a method of feeding and milking animals, a feed platform, a milking pre-treatment device, a milking post-treatment device, a cleaning device, a separation device and a milking system all suitable for use in such an assembly

ABSTRACT

An assembly for feeding and milking animals comprises a feeding system with a movable feed platform and a drive unit for driving the feed platform. The feed platform is provided with a number of feeding places. The assembly further comprises a milking system for automatically milking animals on the feed platform, which milking system comprises sets of teat cups. At least a large number of the sets of teat cups is disposed separately from the feed platform.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims priority from Dutch application number 1024518filed on 13 Oct. 2003, the contents of which are hereby incorporated byreference in their entirety.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The invention relates generally to an assembly for feeding and milkinganimals and furthermore to a feed platform, a milking pre-treatmentdevice, a milking post-treatment device, a cleaning device, a separationdevice and a milking system for use in such an assembly. The inventionalso relates to a method of feeding and milking animals in particularanimals located on a feeding platform.

2. Description of the Related Art

Feeding systems are known comprising a movable feed platform with anumber of feeding places and a drive unit for driving the feed platform.Such systems may also be provided in combination with e.g. automaticmilking systems for milking the animals on the feed platform.

A known assembly for automatically milking large herds of animalscomprises a feed platform with individual stalls, each for at leastpartially confining one animal. Each stall also has its own teat cupsand its own feed trough which move together with the platform. At thecircumference of the platform there is provided a connection zone whereteat cups are connected to the teats of an animal that is present on theplatform. For the connection there may be used stationary connectingrobots known per se or pivoting robots or robots moving along rails.There may further be provided zones for washing the udder of an animalor for washing the animal itself, and there may be provided a zone wherefeed is supplied to a feed trough. An assembly of this type is knownfrom US-A1-2002/0033138. A similar devices is known from U.S. Pat. No.4,508,058.

Other assemblies are known in which sets of teat cups are arrangedseparately from a platform. In these known assemblies however, theanimals are not allowed to move freely in an area and must be led to thefeed platform. In general, the entrance to such platforms is restrictedand the animals are also confined in individual milking stalls while onthe platform. Dairy animals however find it unpleasant to be milked in aclosed area, such as stalls provided on a platform which limit thefreedom of movement of a dairy animal to a high extent. Furthermore,dairy animals appear to experience walking to and boarding suchplatforms as unpleasant and may therefore by very unwilling to be leadto or from the platform, which may result in problems to get an animalonto or from the platform, leading to insufficient occupation of theplatform and thus reduced milk production. Additionally, assemblies areknown in which animals may be housed on a rotatable platform. For thepurpose of milking, the animals may be sequentially moved adjacent to amilking device comprising teat cups. Assemblies of the above mentionedtypes are known from U.S. Pat. No. 2,358,000 and U.S. Pat. No.3,103,912.

It is also known from FR-A-2,649,858 to dispose sets of teat cupsseparately from a platform. The housing system as used in FR-A-2,649,858is not explicitly described, but since the animals have to enter thecircular platform from within the platform it is most likely that theanimals have to be led from the outside of the platform towards theinside. In addition the assembly known from FR-A-2,649,858 also suffersfrom the disadvantage that a dairy animal is to be milked in a closedarea, such as the stalls provided on the platform disclosed thereinwhich limit the freedom of movement of a dairy animal to a high extent.Each stall is closed by two gates, so that this also restricts the freemovement of animals since an animal has to board the platform at aspecific position. Furthermore, dairy animals appear to experiencewalking to and boarding the platform as unpleasant and may therefore byvery unwilling to be lead to the platform, which may result in problemsto get an animal onto or from the platform, leading to insufficientoccupation of the platform and thus reduced milk production.

In addition an assembly is known from international patent applicationWO 02/19807 and the article “Rund und ohne Futtertisch”, DLZAgrarmagazin, of March 2002, pages 120 and 121. Herein a standard feedplatform is described, provided with individual milking stalls, eachmilking stall comprising associated teat cups and its own feed trough.The access to and the exit from the feed platform is controlled by meansof a number of controlled gates. When the animals are to be milked,automatic driving devices are used to drive the cows towards the feedplatform. During milking the rotational speed of the feed platform isadjusted in such a way that an animal will spend approximately 10 to 15minutes on the feed platform (i.e. one rotation of the platform takes 10to 15 minutes). When there is no need for milking, the assembly is usedas a feed platform. In this case the automatic driving devices are notused, but the controlled gates are. Moreover, the rotational speed ofthe platform is then adjusted in such a way that one rotation will takeapproximately 30 minutes. Although this known assembly may be expectedto provide an enhanced efficiency upon milking large herds, this knownassembly has a number of drawbacks limiting its efficiency. It has beenfound that the use of automatic driving devices leads to unrest withsome of the dairy animals, and these animals may then be inclined toconsider the feed platform as unpleasant. This unrest will not onlyresult in a reduced milk yield with some animals, but these animals willalso be inclined not to go to the feed platform voluntarily.Consequently, when there is no need for milking, and the platform isused as a feed platform, these animals will walk more slowly to theplatform or even block the gates. This may lead to further unrest and toinsufficient feed consumption, which is undesirable, of course. Afurther drawback of the known assembly is that the dairy animals are notable to go voluntarily to the platform for being milked. As it has beenfound with automatic milking robots that are freely accessible to dairyanimals, a voluntary walk to the milking machine for being milked wouldimprove the milk production and the animal health.

BRIEF SUMMARY OF THE INVENTION

According to the present invention there is provided an assembly forfeeding and milking animals, the assembly comprising a feeding systemcomprising: a movable feed platform and a drive unit for driving thefeed platform, a number of feeding places being provided on the feedplatform; an area where the animals are allowed to move freely; anentrance from the area to the feed platform, the entrance having a widththat is sufficiently large to enable simultaneous access of severalanimals to the feed platform; and a milking system comprising aplurality of sets of teat cups disposed substantially separately fromthe feed platform for milking animals on the feed platform duringmovement thereof.

The invention is based on the insight that a dairy animal finds itunpleasant to be milked in a closed area, in particular a closed areathat limits the freedom of movement of a dairy animal to a high extent.Furthermore, dairy animals appear to experience walking to and boardingthe platform as well as the mechanical way of milking as unpleasant,which may adversely affect the milk production and sometimes even themilk quality. The invention is furthermore based on the insight that,contrary to expectations, disposing at least a large number of the setsof teat cups separately from the feed platform, still leads to a higherfeed consumption and milk production and a more animal-friendly milkingprocess. Owing to the fact that at least a large number of the sets ofteat cups are disposed separately from the platform, the platform willbe called hereinafter feed platform.

In a preferred embodiment of an assembly according to the invention, allthe sets of teat cups are disposed separately from the feed platform.This means that the feed platform is free from teat cups, which,moreover, implies more freedom in the constructional design of the feedplatform. The teat cups may be disposed in or associated with astationary reference frame. For performing the milking operation, theteat cups may be brought onto the moving platform for connection to theanimal's teats. The remainder of the milking system may however remainat least partially stationary.

The movable feed platform may have a rectilinear form and be supportedat its ends by reversing rollers as a result of which the movable feedplatform constitutes a closed path. If the movable feed platformconstitutes a closed path and has an edge on its outer side, and inparticular if the movable feed platform is at least substantiallycircular, the effective standing-surface of the feed platform isincreased.

Although the feed may be supplied manually or mechanically to thefeeding places, it is advantageous if the feeding system is providedwith a feeding system control unit. The milking system is preferablyprovided with a milking system control unit.

Although the feeding system control unit and the milking system controlunit may be separate control units that are able to operateindependently, these control units may be provided withtransmitting/receiving devices for mutual communication, so thatco-operation between the feeding system and the milking system ispossible. In a favorable embodiment of an assembly according to theinvention, the assembly is provided with a central control unit, thefeeding system control unit and the milking system control unit beingconnectable to the central control unit. Such a central control unit mayensure the mutual co-operation of the feeding system and the milkingsystem and possibly other systems provided with control units.

In an embodiment of an assembly according to the invention, the numberof sets of teat cups is smaller than the number of feeding places. Theinvention is partially based on the insight that, in order to be able tomilk efficiently a large number of animals, it is not necessary toprovide one set of teat cups per feeding place. Consequently, a smallernumber of sets of teat cups is required, which means a reduction ofcosts of the assembly.

It has been found that, even if the number of sets of teat cups issmaller than ¼ of the number of feeding places or even if the number ofsets of teat cups is smaller than or equal to eight, efficient milkingof a herd of animals is possible.

In an embodiment of an assembly according to the invention, the milkingsystem is provided with a teat cup carrier for carrying a set of teatcups, which teat cup carrier is arranged stationarily. By “arrangedstationarily” is meant that the teat cup carrier is arranged on thestationary world beside the feed platform. Such a stationary arrangementmay take place by disposing the teat cup carrier on the floor or bysuspending it from a ceiling or the like.

In an alternative embodiment of an assembly according to the invention,the milking system is provided with a teat cup carrier for carrying aset of teat cups, which teat cup carrier is movable.

In a further preferred embodiment of an assembly according to theinvention, the milking system is provided with a movable connectiondevice for, in particular automatically, connecting a set of teat cupsto the teats of an animal. In order to be able to connect correctly ateat cup to a teat of an animal on the feed platform, the milking systemis preferably provided with a teat position determining device fordetermining the position of a teat of an animal. Such a teat positiondetermining device is known per se. Although such a teat positiondetermining device may be arranged stationarily, for the sake ofaccuracy of the position determination it is advantageous if the teatposition determining device is disposed on the connection device.

Said movable connection device is advantageously provided with agripping device for gripping teat cups disposed on the teat cup carrier.When a particular animal is to be milked, it is thus possible for themovable connection device to take the teat cups from the teat cupcarrier and to connect them to the teats of an animal. In this case itis possible to design the connection device in a manner known per se insuch a way that the teat cups are connected one by one or at leastsubstantially simultaneously. In this case the connection devicepreferably comprises a robot arm, in particular for carrying thegripping device.

In an embodiment of an assembly according to the invention, the milkingsystem comprises a closed path for the movable teat cup carrier and themilking system is provided with a drive unit for moving the teat cupcarrier along the closed path. This means that the area across which theteat cup carrier can move is limited to the closed path, whichsimplifies inter alia the collection of milk obtained and themaintenance of the sets of teat cups. Furthermore, in this manner amodular construction of the assembly is possible. A user of the assemblywishing to use the feed platform in the first instance only for feedinganimals, may purchase at a later stage the milking system comprising ateat cup carrier in order to be able also to milk the animals.

The closed path of the milking system preferably comprises a rail. Sucha rail may be disposed on a floor of the assembly or be suspended from aceiling of the assembly. In this case it is possible that the rail isdisposed at least partially above or below the feed platform.

In a further embodiment of an assembly according to the invention, theclosed path of the milking system comprises a common, cylindricalsupport for teat cup carriers. This means that there is obtained a sortof cylindrical casing in which the teat cup carriers are accommodated.The shape and size of the cylindrical support may be attuned, on the onehand, to provide sufficient space for possible other components of themilking system and, on the other hand, to obtain an aesthetic exterior.It is also possible to select the shape of the rail or the cylindricalsupport in such a way that said rail or support, if disposed correctly,extends at least substantially parallel to a part of the feed platform.The common, cylindrical support is preferably rotatable.

A compact milking system, the milking system comprising at least oneteat cup line that is connected to the set of teat cups, is obtained inan embodiment of an assembly according to the invention if the teat cupline extends towards an inner side of the closed path of the milkingsystem. A further reduction of the size of the milking system, themilking system comprising a milking vacuum source, is obtained in anembodiment of an assembly according to the invention if the milkingvacuum source is disposed on an inner side of the closed path of themilking system. A highly compact milking system, the milking systemcomprising a pulsation vacuum source, is obtained in an embodiment of anassembly according to the invention if the pulsation vacuum source isdisposed on an inner side of the closed path of the milking system. Themilking system preferably comprises a discharge line for dischargingmilk, which discharge line is connectable to the teat cup line and isdisposed on an inner side of the closed path of the milking system. Ifthe milking system comprises a measuring device for measuring milkparameters, it is advantageous for space-saving purposes to dispose saidmeasuring device on an inner side of the closed path of the milkingsystem. It is pointed out here that by the inner side of the closed pathis meant the entire space surrounded by the closed path.

A particular embodiment of an assembly according to the invention ischaracterized in that the drive unit of the movable teat cup carrier iscapable of being synchronized with the drive unit of the feed platform.This makes it possible to perform the milking of animals on the feedplatform in a simple manner.

In order to be able to clean the teat cups, in an embodiment of anassembly according to the invention, the assembly is provided with ateat cup cleaning device for cleaning a teat cup. Such a teat cupcleaning device may be arranged stationarily, in particular in theproximity of the teat cup carrier. Alternatively, a teat cup cleaningdevice may be a movable teat cup cleaning device that is integrated forexample in the teat cup carrier. It is pointed out that such a teat cupcleaning device may not only be suitable for cleaning teat cups, butalso for disinfecting them.

In a further embodiment of an assembly according to the invention, themovable teat cup carrier is a self-propelled (autonomous) mobile teatcup carrying robot and there is provided a control unit for controllingthe functioning of the mobile teat cup carrying robot for carrying a setof teat cups. By making use of a self-propelled, i.e. a freely movable,teat cup carrying robot, there is obtained more freedom in theconstruction of the assembly. In this case, space for disposing rails ora cylindrical support for the teat cup carrier has not to be taken intoaccount. Moreover, the advantage of the possibility of a modularconstruction of the assembly is maintained.

In this case it is advantageous if the mobile teat cup carrying robot isprovided with further milking means for milking an animal, the furthermilking means comprising at least a milk storage vessel for storingmilk, a milking vacuum source and a pulsation vacuum source. This meansthat it is not necessary to convey the milk obtained to a milkcollecting tank by means of transport lines, but that the mobile teatcup carrying robot can move automatically to said milk collecting tankwhen the milking of an animal has been finished. This may be determinedin a manner known per se, for example when the milk flow measured by aflow meter has come below a particular threshold value.

To prevent possible infection of the milking means between the milkingsof different animals, the assembly is provided with a cleaning devicefor cleaning the further milking means. Such a cleaning device may be aseparate, stationarily arranged cleaning device, but may alternativelybe integrated in the cleaning device for the teat cups. The mobile teatcup carrying robot is capable of moving autonomously to said cleaningdevice.

The assembly is preferably provided with a milk collecting tank and witha conveying device for conveying milk from the milk storage vessel inthe teat cup carrying robot to the milk collecting tank, the milkstorage vessel being preferably provided with a milk outlet. In analternative embodiment, the milk storage vessel is an exchangeable milkstorage vessel that may be transported for example as a whole to a milkfactory.

In a preferred embodiment of an assembly according to the invention, theconnection device and the teat cup carrier are integrated.

In an alternative embodiment of an assembly according to the invention,the movable connection device for connecting a set of teat cups to theteats of an animal is a separate self-propelled (autonomous) mobile teatcup connecting robot, the mobile teat cup connecting robot beingprovided with a control unit for controlling the mobile teat cupconnecting robot. Since, for connecting the teat cups to the teats, theteat cup connecting robot is preferably provided with a teat positiondetermining device, said teat cup connecting robot is relativelyexpensive. For efficiently milking a large herd, several teat cupconnecting robots are required, which leads to relatively high costs forsuch an assembly. However, if a separate teat cup connecting robot isused, even in case of a large herd of animals one (relatively expensive)teat cup connecting robot and a number (for example four) of relativelycheaper teat cup carrying robots will suffice. The control unit of theteat cup carrying robot and the control unit of the teat cup connectingrobot are then preferably provided with communication means for mutualcommunication or for communication with the central control unit inorder to be able to co-operate in a correct manner.

In a further embodiment of an assembly according to the invention, theassembly is provided with a milking pre-treatment device for performinga milking pre-treatment on an animal on the feed platform, which milkingpre-treatment device is provided with a pre-treatment tool carrier, witha pre-treatment tool carried by the pre-treatment tool carrier, and witha control unit for controlling the functioning of the milkingpre-treatment device. Such a pre-treatment tool may be for example a cupor a brush for stimulating and/or cleaning and/or massaging a teat. Thepre-treatment tool may also comprise a sprayer or the like.

Analogously to the teat cup carrier, the pre-treatment tool carrier isarranged stationarily in an embodiment of an assembly according to theinvention. Alternatively, the pre-treatment tool carrier is movable. Inorder to be able to move correctly the pre-treatment tool to a teat, inan embodiment of an assembly according to the invention, the milkingpre-treatment device is provided with a device for determining theposition of a teat of an animal.

In a favorable embodiment of an assembly according to the invention, themilking pre-treatment device is provided with a movable contactingdevice for bringing a teat of an animal into contact with apre-treatment tool. The movable contacting device is in particularprovided with a gripping device for gripping a pre-treatment tool. Thepre-treatment tool carrier and the contacting device are preferablyintegrated.

In a constructionally simple embodiment of an assembly according to theinvention, the movable contacting device comprises a robot arm, inparticular for carrying the gripping device.

Analogously to the teat cup carrier, in an embodiment of an assemblyaccording to the invention, the pre-treatment tool carrier is movable,the milking pre-treatment device comprising a closed path for themovable pre-treatment tool carrier, and a drive unit being provided formoving the pre-treatment tool carrier along the closed path. Said closedpath may comprise a rail. Analogously to the teat cup carrier, in anembodiment of an assembly according to the invention, the closed pathmay comprise a common, cylindrical support for several pre-treatmenttool carriers.

If a pre-treatment tool is constituted by a spraying device for sprayingand/or squirting a fluid on the teat, the milking pre-treatment devicecomprising at least one fluid line that is connected to the sprayingdevice, an assembly according to the invention may be designed as acompact one in that the fluid line extends towards an inner side of theclosed path.

In a preferred embodiment of an assembly according to the invention, themovable pre-treatment tool carrier is a self-propelled (autonomous)mobile pre-treatment tool carrying robot, thus providing more freedom inthe construction of the assembly. In an embodiment of an assemblyaccording to the invention, a pre-treatment is enabled in a simplemanner if a drive unit of the movable pre-treatment tool carrier iscapable of being synchronized with the drive unit of the feed platform.

In a further embodiment of an assembly according to the invention, theassembly is provided with a milking post-treatment device for performinga milking post-treatment on an animal on the feed platform, whichmilking post-treatment device is provided with a post-treatment toolcarrier, with a post-treatment tool carried by the post-treatment toolcarrier, and with a control unit for controlling the functioning of themilking post-treatment device. Analogously to the milking pre-treatmentdevice, in an embodiment of an assembly according to the invention, thepost-treatment tool carrier may be arranged stationarily. In analternative embodiment, the post-treatment tool carrier is movable.

In order to be able to move correctly the post-treatment equipment,which may be for example a cup for disinfecting a teat or a cleaningdevice, to a teat to be treated, in an embodiment of an assemblyaccording to the invention, the milking post-treatment device isprovided with a device for determining the position of a teat of ananimal.

The milking post-treatment device is preferably provided with a movablecontacting device for bringing a post-treatment tool into contact with ateat of an animal. In this case it is advantageous if the movablecontacting device is provided with a gripping device for gripping apost-treatment tool.

In an embodiment of an assembly according to the invention, thepost-treatment tool carrier and the contacting device are integrated.

In a constructionally simple embodiment of an assembly according to theinvention, the movable contacting device comprises a robot arm.

Analogously to the teat cup carrier, in an embodiment of an assemblyaccording to the invention, the post-treatment tool carrier may bemovable, the milking post-treatment device comprising a closed path forthe movable post-treatment tool carrier, and a drive unit being providedfor moving the post-treatment tool carrier along the closed path. In anembodiment of an assembly according to the invention, the closed pathcomprises a rail. For the purpose of obtaining a compact assembly, in anembodiment of an assembly according to the invention, the closed pathcomprises a common, cylindrical support for several post-treatment toolcarriers. For the purpose of performing in a simple manner apost-treatment on an animal that is present on the feed platform, in anembodiment of an assembly according to the invention, the common,cylindrical support is rotatable, and there is provided a drive unit forrotating the common, cylindrical support.

If, in an embodiment of an assembly according to the invention, apost-treatment tool is constituted by a spraying device for sprayingand/or squirting a fluid on the teat, the milking post-treatment devicecomprising at least one fluid line that is connected to the sprayingdevice, a compact construction is obtained if the fluid line extendstowards an inner side of the closed path.

In a further embodiment of an assembly according to the invention, themovable post-treatment tool carrier is a self-propelled (autonomous)mobile post-treatment tool carrying robot, thus providing more freedomin the construction of the assembly.

A post-treatment on an animal that is present on the feed platform maybe performed in a simple manner if, in an embodiment of an assemblyaccording to the invention, a drive unit of the movable post-treatmenttool carrier is capable of being synchronized with the drive unit of thefeed platform.

In an embodiment of an assembly according to the invention, the angularmagnitude of the entrance is preferably greater than 90°. This will atleast partially prevent an animal that is unwilling to board theplatform from hindering other animals from getting access to theplatform. This magnitude of the entrance enables simultaneous access ofseveral animals to the feed platform.

Although the entrance may be provided with a closing device, such as forexample a gate or fencing, this may lead, as described above, todiscouraging certain animals from walking to the feed platform. In aparticular embodiment of an assembly according to the invention, theentrance is free from a closing device. This means that animals are ableto get free and voluntary access to the feed platform at all timeswithout being hindered. Therefore, the assembly according to thisembodiment is eminently suitable for being used instead of the customaryfeeding gate where for example roughage is supplied. A further advantageis that animals having a relatively low rank also have the possibilityof easily boarding the feed platform, so that also these animals areable to consume sufficient feed, which may lead not only to a betteranimal health, but also to a higher milk yield.

In a further embodiment of an assembly according to the invention, theassembly is provided with an exit from the feed platform to said areawhere the animals are allowed to move freely, and, the width of the exitbeing sufficiently large to enable simultaneous exit of several animalsto the area. This prevents an animal leaving the platform slowly or evenrefusing to leave the platform from hindering other animals from leavingthe platform. In a particular embodiment of an assembly according to theinvention, the exit is free from a closing device.

In an embodiment of an assembly according to the invention, the entranceand the exit may coincide. In an alternative embodiment of an assemblyaccording to the invention, the entrance and the exit are remote fromeach other. In an embodiment of an assembly according to the invention,the assembly may be provided with several entrances and/or exits. Inparticular, there are provided one or more closable emergency exits thatare controlled by a control unit, preferably the central control unit,which receives signals from a detection device detecting that an animalwishes to leave the platform earlier than usually. Such a detectiondevice may be constituted by a camera detecting the number of times ananimal lifts its head. When a threshold value has been exceeded, thecontrol unit is capable of allowing the animal to leave the platform. Asan alternative for a camera, there may be used a pressure sensordisposed at a certain level above a feeding place, or a step countercounting the number of steps made by an animal. Furthermore, anoperating roller or brush may be disposed at a certain level immediatelyin front of the closable emergency exit, which operating roller orbrush, when being touched by an animal passing below, activates thecontrol unit of the closable emergency exit by means of a pressurecontact. In this manner, animals experiencing too much stress or thelike during their stay on the platform, which is expressed by anincreased number of movements, are able to leave the platform at theclosable emergency exits.

In a particular embodiment of an assembly according to the invention,the feed platform has a platform portion that is adjacent to theentrance or the exit, and, viewed in the direction of rotation of thefeed platform and opposite to the direction of rotation of the feedplatform, said platform portion has transitions at its ends, theassembly being provided with a deterring device for deterring an animalfrom crossing the transition. In this manner an animal is prevented fromcrossing the transition unintentionally. When, for example, an animalrefuses to leave the feed platform at the exit zone, the deterringdevice is capable of ensuring that the animal does not cross thetransition. In case an assembly according to the invention has aseparate entrance and exit, such a deterring device at the transitionlocated at the exit end located in the direction of rotation of theplatform may be constituted for example by a stationary wall or astationary fence that are provided immediately above the feed platform.Although an animal may continue to refuse to leave the feed platform, itwill not get beyond the stationary wall or the stationary fencing. If atransition is intended for letting pass animals being present in adesired position on the feed platform, it is advantageous if thedeterring device is designed in such a way that such a passage is madepossible.

In a simple embodiment of an assembly according to the invention, thedeterring device comprises a lowered ceiling. It has been found thatsuch a lowered ceiling, which is for example somewhat higher than thehighest dimension of an animal, has already a sufficiently deterringfunction to prevent animals from crossing the transitionunintentionally.

In a further embodiment of an assembly according to the invention, thedeterring device comprises a closing device. The closing devicepreferably comprises a curtain, or an equivalent element such aslamellas.

Such a closing device is preferably a controlled closing device, so thatselected animals are allowed passage and other animals are refusedpassage.

In a further embodiment of an assembly according to the invention, theclosing device comprises a rotatable door, a control unit and a driveunit for the rotatable door, which drive unit is controlled by thecontrol unit and is capable of being synchronized with the drive unit ofthe feed platform.

In a particular embodiment of an assembly according to the invention,the closing device comprises a door whose size is variable, such as forexample a sliding door. Such a sliding door may be designed in such away that it opens sidewards or, alternatively, upwards. The operation ofsuch a closing device may take place with the aid of detectors known perse, such as cameras and infrared sensors. These detectors may also beused to stop the drive of the feed platform and to supply an alarmsignal in case of malfunction or unwillingness of an animal.

In a further embodiment of an assembly according to the invention, theassembly is provided with a cleaning device for cleaning the feedplatform. During the use of the assembly by animals, in particular theupper surface on which the animals are standing is sensitive tocontamination. However, other parts of the feed platform may becontaminated as well. By making use of a cleaning device it may beensured that the feeding and milking of the animals take placehygienically, which may not only improve the animal health, but also themilk quality and the milk yield.

In an embodiment of an assembly according to the invention, the cleaningdevice is arranged stationarily. In an alternative embodiment, thecleaning device is movable.

In a particular embodiment of an assembly according to the invention,the cleaning device for the feed platform is disposed, viewed in thedirection of rotation of the feed platform, between the exit and theentrance. This makes it possible for an animal always to enter a cleanedfeeding place. Because of the absence of animals between the exit andthe entrance, a cleaning device can be used in a highly efficientmanner. Such a cleaning device may be operative continuously.

In a further embodiment of an assembly according to the invention, thecleaning device is provided with a cleaning control unit for controllingthe functioning of the cleaning device. Although the cleaning device maybe activated and deactivated manually, it is advantageous if thecleaning device is an automatic cleaning device. In order to preventunnecessary cleaning of the feed platform, in an embodiment of anassembly according to the invention, the cleaning device comprises adevice for determining the degree of contamination of the platform andfor supplying degree-of-contamination signals to the cleaning controlunit.

In an embodiment of an assembly according to the invention, the cleaningdevice comprises a manure slide, by means of which it is possible toremove big contamination parts, such as manure, from the feed platformin a simple manner. In a particularly favorable embodiment of anassembly according to the invention, the manure slide is capable ofbeing arranged at an angle relative to the usual direction of movementof the feed platform. The manure slide is preferably movable in adirection transversely to the direction of rotation of the feedplatform. In a further embodiment of an assembly according to theinvention, the cleaning device comprises a rotatable cleaning brush. Inan embodiment of an assembly according to the invention, the cleaningdevice may further comprise a sprayer for spraying and/or squirting afluid on the platform. In this case it is advantageous if the sprayer isa high-pressure sprayer. The cleaning brush and the sprayer arepreferably movable across the standing-surface of the feed platform.

In order to reduce the use of fluid, in an embodiment of an assemblyaccording to the invention, the cleaning device is provided with a reusedevice for making the fluid suitable for reuse.

In a further embodiment of an assembly according to the invention, animproved cleaning of the feed platform is obtained in that the cleaningdevice comprises a heating element for heating the fluid.

For removing fluid possibly remaining on the feed platform, in anembodiment of an assembly according to the invention, the cleaningdevice comprises a drying device for drying the feed platform. Such adrying device may function with the aid of compressed air and maypossibly comprise a heating device for heating the compressed air.

In a further embodiment of an assembly according to the invention, thecleaning device is provided with an outlet for discharging impuritiesfrom the platform.

In an embodiment of an assembly according to the invention, the cleaningdevice is a self-propelled (autonomous) mobile cleaning robot, whichmobile cleaning robot is provided with a control unit for controllingthe mobile cleaning robot, thus providing more freedom in theconstruction of the assembly.

Although the mobile cleaning robot is capable of removing impuritiesfrom the feed platform by sliding or sweeping, it is advantageous if themobile cleaning robot comprises a storage container for impurities. Inthis manner it is possible to discharge impurities directly from thefeed platform into the storage container, without other parts of thefeed platform coming into contact with those impurities, which occurs inthe case of sliding or sweeping.

In a further embodiment of an assembly according to the invention, theassembly is provided with a storage place and/or an outlet forimpurities, and the assembly is provided with a conveying device forconveying impurities from the storage container to the storage placeand/or the outlet for impurities.

Although the storage container has a uniform opening both for letting inand letting out impurities, for providing more freedom of constructionit is advantageous if the storage container is provided with a separateoutlet for impurities.

In order to prolong the useful life of the storage container and tomaintain an optimum effective capacity of the storage container, in anembodiment of an assembly according to the invention, the assembly isprovided with a cleaning device for cleaning the storage container. Theconveying device is in particular capable of being coupled automaticallyto the outlet. In an embodiment of an assembly according to theinvention, a correct conveyance of impurities from the storage containerto the storage place and/or the outlet for impurities is obtained inthat the conveying device is provided with a coupling detector. In aparticular embodiment, the conveying device is capable of beingactivated with the aid of data from the coupling detector.

In the above-described known assemblies, the feed platform is alwaysprovided with confining means for forming a stall which can only beoccupied by one animal. Such a stall is considered necessary, because itshould be possible also to milk an animal in the stall. Confinement thenensures that an animal will assume a reasonably defined positionfacilitating the connection of teat cups. An animal does not alwaysexperience such a confinement as pleasant, which may adversely affectthe feed consumption and the milk yield. Moreover, such stalls hinderthe animal boarding the platform from having the possibility of choosingonly on the platform the feeding place where it wishes to eat. Freeaccess of an animal to a feed platform is thus impeded. The invention ispartially based on the insight that at least a sufficient milk yield andfeed consumption can be obtained in an embodiment of an assemblyaccording to the invention that is characterized in that the feedplatform is at least for the greater part free from confining means forconfining animals. Owing to the fact that the animals do not have afeeling of being confined, they will feel freer and calmer. There may beprovided a few separation means on the platform to define a place on theplatform where animals are not admitted, for example to create acrossing place on the feed platform for a farmer or a maintenanceworker. As a result, in the case of an annular feed platform, the areainside the annular platform can be accessible to a farmer or amaintenance worker via the crossing place between the separation means.In a further embodiment of an assembly according to the invention, thefeed platform is completely free from confining means.

In a favorable embodiment of an assembly according to the invention,each feeding place has an entrance opening for an animal, which entranceopening is tangential, i.e. parallel, to the usual direction of movementof the feed platform, so that an animal standing at a feeding place ispositioned at least substantially transversely to the usual direction ofmovement of the feed platform. In this manner it is possible to reversethe direction of movement of the feed platform without the necessity ofadaptations being applied for this purpose to the entrance or the exit.An animal is then able to board or to debark from the platform in thesame manner, independently of the direction of movement of the feedplatform.

In a preferred embodiment of an assembly according to the invention, thefeed platform is provided with a locking device for locking an animal ata feeding place. This prevents an animal from leaving the platformunintentionally. Although being locked is sometimes experienced asunpleasant by an animal, it has been found that, when an animal iseating, being locked is experienced as less unpleasant than beingconfined.

In a preferred embodiment of an assembly according to the invention, thelocking device comprises a neck-locking device. Alternatively oradditionally, in an embodiment of an assembly according to theinvention, the locking device comprises a locking feeding gate. In aparticular embodiment of an assembly according to the invention, theassembly comprises a locking control unit for controlling the lockingdevice, the locking device being capable of being activated anddeactivated by the control unit. In a further embodiment of an assemblyaccording to the invention, an eating indication device is provided fordetermining whether an animal is eating at a feeding place. In anembodiment of an assembly according to the invention, such an eatingindication device may be constituted by a camera or a microphone that iscapable of analysing eating sounds. In the case that the feeding placecomprises a feed trough, the eating indication device may be constitutedby a pressure sensor for measuring the pressure on the feed trough.Because an animal presses its nose against the feed trough when it iseating, said pressure is an eating indication. In a further embodimentof an assembly according to the invention, the locking device iscontrolled partially with the aid of data from the eating indicationdevice. This makes it possible to lock an animal only when the animal isactually eating. The above-mentioned deterring device may also becontrolled partially with the aid of data from the locking device. Forthis purpose, the relevant control units may be provided withcommunication means for mutual communication or communication with thecentral control unit. There is preferably provided a locking device ateach feed trough.

In a further embodiment of an assembly according to the invention, theassembly is provided with a separation device for separating an animalstanding on the platform and for leading the separated animal away fromthe platform. The separation device is in particular provided with aseparation control unit.

Although the separation device may be constituted by a system ofpassages and gates located in the exit of the feed platform, saidpassages and gates have the disadvantage of adversely affecting the freemovement of the animals. For this purpose, in an embodiment of anassembly according to the invention, the separation device comprises acage and a cage displacing device for placing the cage over an animal,the displacing device comprising a drive unit. In an embodiment of anassembly according to the invention, a quick and correct separation maybe obtained if the cage is displaceable by the displacing devicetransversely to a usual direction of movement of the feed platform. Thecage is preferably displaceable by the displacing device in the usualdirection of movement of the feed platform. In this case the displacingdevice is preferably provided with a suspension structure for suspendingthe cage above the feed platform.

Although the drive of the feed platform may be stopped for separating ananimal, for the sake of efficiency of the use of the feed platform it isadvantageous if, in an embodiment of an assembly according to theinvention, the drive unit of the displacing device is capable of beingsynchronized with the drive unit of the feed platform.

In a further embodiment of an assembly according to the invention, theseparation device is a self-propelled (autonomous) mobile animalgripping robot, which mobile animal gripping robot is provided withgripping means for gripping an animal, which, moreover, implies morefreedom in the constructional design of the feed platform.

In a further embodiment of an assembly according to the invention, thecontrol unit of the separation device is capable of being remotelycontrolled. As a result, it is not necessary for a farmer or an operatorof the assembly to be physically present for controlling the separationdevice. In a particular embodiment of an assembly according to theinvention, the separation device is provided with a transmitter fortransmitting separation data. This makes it possible that the separationdevice sends a message to the farmer or the operator of the assembly,for example to the mobile telephone of said person, that a relevantanimal has been separated and can be manually treated, examined or thelike.

The feed platform may be constituted by a rotatable disc or ring. In aparticular embodiment of an assembly according to the invention, themovable feed platform comprises an outer annular platform unit having anedge located on the outer side and having an inner edge, and an innerplatform unit having an outer edge that is located at some distance fromthe inner edge of the outer platform unit, the outer platform unit andthe inner platform unit being synchronously rotatable. This makes itpossible to dispose, in a constructionally simple manner, possibletreatment equipment, lines and the like in the space between the outerand inner annular platform units. Said treatment equipment is preferablyprovided with displacing means for displacing the treatment equipmentfrom a first position, in which the treatment equipment is located belowthe plane formed by the inner and outer annular platform units, to asecond position, in which the treatment equipment is located above theplane formed by the inner and outer annular platform units.

In a further embodiment of an assembly according to the invention, theassembly is provided with bridging elements for forming a bridge betweenthe outer platform unit and the inner platform unit. By means of saidbridging elements it is possible to get access in a simple manner to theinner annular platform unit.

The bridging elements are preferably arranged at the entrance and/orexit, so that animals are able to board the feed platform withoutproblems.

Although the feeding system may comprise the manual supply of feed tothe feeding places, in an embodiment of an assembly according to theinvention, the feeding system comprises a feed supply station forsupplying feed, in particular mechanically, pneumatically, hydraulicallyor automatically, to a feeding place. In a further embodiment of anassembly according to the invention, the feed supply station is suitablefor supplying fluid, such as water, to a feeding place.

It is possible that, by gravitational force, feed from a storage bindisposed above a feeding place falls freely downwards onto the feedingplace. However, in this case it may occur that not always the correctamount of feed falls onto the feeding place. In order to obtain a moreaccurate feed supply to the feeding place, in an embodiment of anassembly according to the invention, the feed supply station is providedwith a feed storage container and with a conveying device for conveyingthe feed from the feed storage container to a feeding place. In anembodiment of an assembly according to the invention, the conveyingdevice is preferably movable by a drive unit, so that, for example bythe movement of the conveying device, feed can be supplied to severalfeeding places. In this case it is particularly advantageous if thedrive unit of the conveying device is capable of being synchronized withthe drive unit of the feed platform.

Analogously to the teat cup carrier, in an embodiment of an assemblyaccording to the invention, the feed supply station may be arrangedstationarily. In a further embodiment of an assembly according to theinvention, there are arranged several feed supply stations distributedover an inner edge and/or an outer edge of the feed platform.

In a further embodiment of an assembly according to the invention, thefeed supply station comprises a self-propelled (autonomous) mobile feedsupplying robot, thus providing more freedom in the construction of theassembly.

In a preferred embodiment of an assembly according to the invention, theassembly is provided with navigation means for navigating the mobilerobot. This enables a correct displacement of the mobile robot in theassembly. In this case it is advantageous if the navigation means arecapable of being brought into contact with the central control unit. Forthe purpose of achieving a highly accurate displacement of a mobilerobot, in an embodiment of an assembly according to the invention, thenavigation means are disposed at least partially on the mobile robot. Inthis case, in a further embodiment of an assembly according to theinvention, it is advantageous if the navigation means comprise positiondetermining means for determining the position of the mobile robot andfor supplying position information to the control unit.

The mobile robot is preferably provided with its own energy supply, arechargeable energy supply being in particular suitable for the purpose.In the latter case, in an embodiment of an assembly according to theinvention, it is advantageous if the assembly is provided with a chargerdevice for recharging the energy supply. In order to enable a highdegree of automation of the assembly, in an embodiment of an assemblyaccording to the invention, the rechargeable energy supply is providedwith a charging port and the charger device is capable of being coupledautomatically to the charging port. In order to enhance the safety andthe accuracy of recharging, in an embodiment of an assembly according tothe invention, the charger device is provided with a coupling detector.In an embodiment of an assembly according to the invention, the chargerdevice is capable of being activated with the aid of data from thecoupling detector. This makes it possible only to recharge when thecoupling detector indicates that the coupling has taken place.

In order to improve the functioning and the safety of the assembly, inan embodiment it is advantageous if the mobile robot is provided with amalfunction detector for detecting an internal malfunction. The assemblyis preferably provided with an alarm-signal-issuing device for issuingan alarm signal with the aid of data from the malfunction detector. Saidalarm signal may be sent for example to the farmer or the operator ofthe assembly to enable the person in question to take the necessarymeasures for repairing the malfunction. The safety of the assembly isfurther improved in an embodiment in which the mobile robot is capableof being deactivated with the aid of data from the malfunction detector.

Since an improved functioning may be obtained if the mobile robot isalso capable of moving across the feed platform, in a favorableembodiment of an assembly according to the invention, the mobile robotis dimensioned in such a way that it is capable of being placed as awhole under an animal between the forelegs and hind legs of said animal.Separation means, if any, or a locking feeding gate or the like that maybe disposed on the feed platform, may be designed in such a way thatthey comprise a passage opening for the mobile robot.

In order to prevent the mobile robot inter alia from colliding withobjects, in an embodiment of an assembly according to the invention, themobile robot is characterized in that it is provided with a proximitydetector for detecting the proximity of an object. In an embodiment ofan assembly according to the invention, the mobile robot and/or otherobjects may be prevented from being damaged as a result of undesiredcontacts with the mobile robot if the assembly is characterized in thatthe mobile robot is provided with a protecting device for protecting atleast a part of the mobile robot, the protecting device being capable ofbeing brought from an inactive position into an active protectingposition. Such a protecting device may be a protecting cap, an airbag orthe like. The protecting device is in particular capable of beingbrought from an inactive position into an active protecting positionwith the aid of data from the proximity detector. In an embodiment theproximity detector comprises a camera. Alternatively or additionally,the proximity detector may comprise an approach sensor.

In an embodiment of an assembly according to the invention in which themobile robot is provided with a signal-issuing device for issuing aperceptible signal, the mobile robot is capable of signalling itspresence to its environment. Besides, said signal-issuing device may beused for making sounds audible or perceptible to an animal. In apreferred embodiment, the signal-issuing device is capable of beingactivated with the aid of data from the proximity detector. Theproximity detector is in particular connectable to the navigation meansin order to make it possible for the mobile robot to navigate around anobstacle.

Since a mobile robot may be contaminated by being used in an assemblyaccording to the invention, which might adversely affect the functioningof the mobile robot or lead to less hygiene, an embodiment of anassembly according to the invention is characterized in that theassembly is provided with a cleaning device for cleaning the exterior ofthe mobile robot.

Although animals will go to the feed platform because of the feed to beobtained there, the use of the feed platform may be optimized if anembodiment of an assembly according to the invention is characterized inthat the feeding system is provided with only one feeding area that isfreely accessible to the animals, said single feeding area beingconstituted by the feed platform. The invention is partially based onthe insight that the place where roughage is supplied to animals, whichis usually provided in a stable, is in fact superfluous. As a result, ananimal will visit the feed platform voluntarily at least three to fourtimes per 24 hours.

In an embodiment of an assembly according to the invention that ischaracterized in that the feeding system comprises a feeding placecontrolled by a control unit for supplying feed in a controlled manner,an individual additional feeding of an animal is possible. In anembodiment of an assembly according to the invention, this controlledfeeding place may be arranged on the feed platform. Alternatively oradditionally, a controlled feeding place may be arranged separately fromthe feed platform.

In a further embodiment of an assembly according to the invention, theconveying device comprises a first conveyor for conveying feed from thefeed storage container in upward direction, the first conveyor having asupply end for supplying feed to be conveyed to the feeding place. Dueto the fact that the first conveyor conveys the feed in upwarddirection, there appears to be obtained a highly accurate metering aswell as a quick supply of the feed.

Although the feed may be conveyed directly from the first conveyor tothe feeding place, it is advantageous, inter alia for the purpose ofmixing feed, if the assembly is provided with a receptacle, the firstconveyor conveying an amount of feed from the feed storage container tothe receptacle.

A further embodiment of an assembly according to the invention ischaracterized in that the receptacle is provided with a weighing devicefor weighing feed present in the receptacle. This makes it possible todetermine the amount of feed to be supplied to the feeding place. Thus,it is also possible to realize an accurate composition of the feed.

Although the feed may be taken from the receptacle by means of aseparate taking-out device, for the sake of simplicity of theconstruction it is advantageous if there is not used a separate devicefor taking out. There may be used a tiltable receptacle, feed fallingfrom the receptacle after the latter has been tilted. However, in orderto improve the hygienic use of the assembly, the receptacle preferablycomprises a bottom which is adapted to be opened. An embodiment of anassembly according to the invention is preferably characterized in thatthe control unit controls the opening of the bottom of the receptacle.

Although the amount of feed may be conveyed directly from the receptacleto the feeding place, it is constructionally advantageous if theconveying device comprises a second conveyor for conveying the amount offeed from the receptacle to the feeding place.

In a further embodiment of an assembly according to the invention, thesecond conveyor is a tube-shaped chute or a channel-shaped chute. As aresult, a separate drive mechanism for conveying the feed is notrequired, the gravitational force causing the feed to flow towards thefeeding place.

In a further embodiment of an assembly according to the invention, acompact construction of a feed supply station of the assembly isobtained if the feed storage container comprises a number of storagebins, the storage bins being disposed on a framework located around acentral axis. In this case storage bins may contain different sorts offeed, so that the composition of feed to be supplied to a feeding placecan each time be varied. Each storage bin preferably comprises adischarge end, said discharge end corresponding with the relevant supplyend of the first conveyor.

A compact construction may be obtained if the discharge ends of thestorage bins alternately stagger in height, the arrangement being suchthat the discharge ends of juxtaposed storage bins partially overlapeach other in a projective view. The second conveyor is preferablydisposed rotatably about the central axis, so that a small number ofsecond conveyors, preferably one, will suffice.

In order to obtain insight in the eating behavior of an animal and to beable to take into account feed still present in the feeding place at apossible further supply of feed, in an embodiment of an assemblyaccording to the invention, the feeding system comprises a weighingdevice for weighing feed present in a feeding place. Said weighingdevice may be connectable to the control unit of the feeding system andmay additionally be connectable to the central control unit.

Although, in an embodiment of an assembly according to the invention,the feeding place constitutes part of the feed platform itself, in otherwords comprises an at least substantially horizontal plane, for reasonsof hygiene it is advantageous if a feeding place comprises a feedtrough.

A further embodiment of an assembly according to the invention ischaracterized in that the feed trough has an entrance opening for ananimal, the feed trough having a shape that widens from the entranceopening. A feed trough having a shape that widens from the entrance sideappears to have unexpected advantages in relation to the feedconsumption of animals. In this case the degree of widening is inparticular such that an animal, for example a cow, has relatively muchlateral freedom with the front part of the head.

In an embodiment of an assembly according to the invention, a compactconstruction is obtained if a feed trough is fastened to the feedplatform in a way in which it is capable of being tilted about ahorizontal axis. Such a tiltable feed trough offers major advantages. Itis preferably possible for example that the weighing device comprises atilt measuring device for determining the degree of tilt of the feedtrough, and that the weight of the feed present in the feed unit isdeduced from the degree as determined. The tilt measuring devicepreferably comprises a measuring roll that is in contact with the feedtrough. Additionally or alternatively, the weighing device comprises atorque meter, the feed trough being adapted to be brought into contactwith the torque meter.

In a further embodiment of an assembly according to the invention, thefeeding system is provided with closing means for closing an entranceopening to the feed trough. This makes it possible to prevent access toparticular feed troughs, for example because these feed troughs have tobe cleaned, or when maintenance has to be performed. Moreover, closing afeed trough may ensure that an animal is sooner inclined to leave theplatform. Consequently, the entrance opening to the feed trough is inparticular closed when or immediately before the feed trough has reachedthe exit.

In an embodiment of an assembly according to the invention, the closingmeans comprise a closing device that is movable across the entranceopening. In order to reduce the number of components, an embodiment ofan assembly according to the invention is characterized in that theclosing means are constituted by the feed trough.

If, in an embodiment of an assembly according to the invention, a feedtrough is designed in such a way that it is sound-proof when an animalhas put its head in the feed trough, an animal is at least almost notdisturbed by environmental sounds, so that the feed consumption andpossibly the milk yield can be improved. If desired, calming sounds orsounds stimulating the milk secretion may be supplied to a feeding placeif a loudspeaker that is connectable to a sound-generating device isdisposed at each feeding place.

An assembly functioning at a high degree of automation is obtained if,in an embodiment of an assembly according to the invention, the feedingsystem is provided with a provisioning system for automaticallyprovisioning the feed storage container.

Such a provisioning system may comprise a tunnel passing under the feedplatform. Alternatively or additionally, the provisioning system maycomprise a rail system with feed grippers that is suspended above thefeed platform.

In a preferred embodiment of an assembly according to the invention, theassembly is provided with position beacons and the assembly is providedwith detection means for detecting the surroundings of the positionbeacons. In this manner it is possible to determine the position of inparticular moving objects in an area surrounding the position beaconsrelative to the position beacons. In a particular embodiment of anassembly according to the invention, the position beacons comprise marksmade on the feed platform. In this manner it is possible to determineaccurately the position and orientation of moving units, such as animalsand possibly mobile robots, on the feed platform, in particular if thedetection means are suitable for establishing the position of an animalon the feed platform.

In a further embodiment of an assembly according to the invention, theassembly is provided with a camera system for monitoring the feedingsystem and/or the milking system, the detection means preferablycomprising the camera system. In combination with position beacons andpicture processing and analyzing software, a camera system is a highlysuitable system for determining the position of objects.

In a favorable embodiment of an assembly according to the invention, thedetection means and/or the camera system are/is connectable to a controlunit.

In a further embodiment of an assembly according to the invention, theassembly is provided with an animal-recognition device for recognizingan animal. The information is supplied by the animal-recognition deviceand may be used in an advantageous manner for the control of certainactions in the assembly and for monitoring the animal traffic throughthe assembly.

Analogously to the teat cup carrier, the animal-recognition device maybe arranged stationarily. The animal-recognition device is preferablyarranged at a transition. This makes it possible to determine in whicharea or zone an animal is present.

In a further embodiment of an assembly according to the invention, theanimal-recognition device comprises at least one movableanimal-recognition unit. The movable animal-recognition device is inparticular disposed on the feed platform, it being highly advantageousif the animal-recognition device comprises an animal-recognition unitper feeding place. Thus it is possible not only to adapt the amount andsort of feed to be supplied per animal.

The animal-recognition device may be used in particular to determinewhether or not an animal is to be milked. In this case theanimal-recognition device, as is usual with automatic milking, iscapable of co-operating with a control unit in which a milking criterionis included. In particular if the feed platform is freely accessible toan animal, it may occur that an animal is present on the feed platformmore frequently than required for being milked. Using theanimal-recognition device thus provides the possibility for the animalsto move freely to the feed platform, it still remaining possible to milkthe animals automatically if the milking criterion has been fulfilled.Consequently, the animals do not need to be driven towards the feedplatform for being milked. Of course, the same holds for othertreatments than milking.

In an embodiment of an assembly according to the invention, theanimal-recognition device comprises an animal-recognition unit disposedon a mobile robot. This makes it possible that a mobile robot performs atreatment or an action in dependence on the identity of an animalestablished by the animal-recognition unit.

In an embodiment of an assembly according to the invention, theanimal-recognition device is in particular connectable to a controlunit, in particular the central control unit, for supplying it withrecognition information. In an embodiment of an assembly according tothe invention, the control unit is programmed in such a way that thecontrol of the assembly or the relevant component takes place partiallywith the aid of the recognition information.

In order to prevent undesirable contamination of the assembly, in anembodiment the assembly is provided with a stationarily arranged manurecollecting device. When the feeding place is arranged on the inner sideof the feed platform, which is usually the case, it is advantageous ifthe manure collecting device is adjacent to the outer edge of theplatform. It is obvious, of course, that, if the construction of theassembly is such that the feeding place is arranged at the outer edge ofthe feed platform, the manure collecting device will be arranged on theother side, i.e. the inner side.

Although the manure collected by the manure collecting device may bedischarged by a separate device, it is advantageous if, in an embodimentof an assembly according to the invention, the manure collecting deviceis provided with means for discharging manure. It is in particularadvantageous if the manure collecting device is provided with means foranalysing manure. In this manner it is not only possible to examine thehealth of the animals, but also to check whether particularenvironmental requirements have been fulfilled.

Although it has been found that the animals leave the feed platformvoluntarily, it may occur that an animal leaves the feed platform tooslowly or does not want to leave the feed platform at all. This isprevented in an embodiment of an assembly according to the invention, inwhich the assembly is provided with removing means for removing animalsfrom the platform.

In a preferred embodiment of an assembly according to the invention, theassembly is provided with weighing means for weighing animals.

When an animal leaves the feed platform, there may still be feed presentin the feeding place. Although this remaining feed may be left in thefeeding place for the next animal to visit the feeding place, in anembodiment of an assembly according to the invention, it isadvantageous, in particular if it is possible to supply a differentamount or sort of feed per animal, if the assembly is provided withprocessing means for collecting and further processing feed left in afeeding place.

In an embodiment of an assembly according to the invention, it isadvantageous if the feed trough has a content of at least approximately20 dm3 in order to be able to contain a sufficient amount of basic feed,such as roughage or ensilaged grass or the like. It is pointed out herethat with known automatic milking systems in a milking stall, whether ornot on a platform, only a limited amount of concentrate is supplied toanimals, so that the maximum content of these known feed troughs onlyamounts to approximately 15 dm3.

In a specific embodiment of an assembly according to the invention, thefeed platform is capable of being driven by the drive unit at an angularspeed of approximately 0.05°/s to approximately 0.15°/s, which, at afeed platform diameter of 16 m, corresponds to a speed of movement atthe outer edge of the feed platform of approximately 0.007 toapproximately 0.021 m/s. This results in a length of stay of an animalon the feed platform that amounts to at least 35 minutes. In otherwords, the speed of movement of the feed platform is adapted (beforehandor during the movement) in such a way that a length of stay of an animalon the feed platform is obtained that amounts to at least 35 minutes. Itis pointed out here that with known milking carrousels said speed ofmovement is set in such a way that the time an animal spends on theplatform is determined by the milking duration (approximately 10 to 15minutes) so that the rotational speed of the known platforms amounts toat least 0.3°/s. It is pointed out here that the invention is partiallybased on the insight that, despite of the fact that an animal is presenton a feed platform at any rate during a long dead time, the assemblystill allows to feed and milk animals efficiently. In fact, according tothe invention, the time an animal spends on the feed platform is notdetermined by the milking time, but rather by the time an animal needsto consume feed.

An embodiment of an assembly according to the invention is thuscharacterized in that the feeding system control unit comprises a memoryfor containing feed-consumption-duration data, and in that the feedingsystem control unit controls the drive partially with the aid of thefeed-consumption-duration data.

In a favorable embodiment of an assembly according to the invention, thefeed platform is capable of being driven by the drive unit optionally inopposite directions of movement.

The invention further relates to a feed platform that is in particularsuitable for use in an assembly according to the invention, the feedplatform being free from teat cups and a feed trough being fastened tothe feed platform in a way in which it is capable of being tilted abouta horizontal axis. As already described in the foregoing, this impliesmore freedom in the constructional design of the feed platform. In apreferred embodiment of a feed platform according to the invention, thefeed platform constitutes a closed path and has an edge on its outerside. The feed platform is preferably substantially circular.

In a further favorable embodiment of a feed platform according to theinvention, the feed platform is at least for the greater part free fromconfining means for confining animals. The feed platform is preferablycompletely free from confining means.

In a particular embodiment of a feed platform according to theinvention, each feeding place comprises a feed trough, said feed troughhaving an entrance opening for an animal, which entrance opening istangential, i.e. parallel, to the usual direction of movement of thefeed platform, so that an animal standing at a feed trough is positionedat least substantially transversely to the usual direction of movementof the feed platform.

In a further embodiment of a feed platform according to the invention,the feed platform is provided with a locking device for locking ananimal at a feeding place. The locking device comprises in particular aneck-locking device. The locking device preferably comprises a lockingfeeding gate.

Although the locking or securing may take place mechanically, it isadvantageous if the feed platform comprises a locking control unit forcontrolling the locking device and if the locking device is capable ofbeing activated and deactivated by the control unit. A locking device isin particular disposed at each feeding place.

In a particular embodiment of a feed platform according to theinvention, the feed platform is provided with an outer annular platformunit having an edge located on the outer side and having an inner edge,and with an inner platform unit having an outer edge that is located atsome distance from the inner edge of the outer platform unit.

In a further embodiment of a feed platform according to the invention,the feed platform is provided with position marks. It is advantageousif, in an embodiment of a feed platform according to the invention, ananimal-recognition device is disposed on the feed platform.

The invention further relates to a milking system suitable for use in anassembly according to the invention, the milking system comprising amovable teat cup carrier and a closed path for the movable teat cupcarrier, the milking system being provided with a drive unit for movingthe teat cup carrier The closed path of the milking system in particularcomprises a rail. In an embodiment of a milking system according to theinvention, the closed path of the milking system comprises a common,cylindrical support for teat cup carriers. The common, cylindricalsupport is preferably rotatable.

In a further embodiment of a milking system according to the invention,the milking system comprises at least one teat cup line that isconnected to the set of teat cups, which teat cup line extends towardsan inner side of the closed path of the milking system. If the milkingsystem comprises a milking vacuum source, the latter is preferablydisposed on an inner side of the closed path of the milking system. Ifthe milking system comprises a pulsation vacuum source, the latter ispreferably disposed on an inner side of the closed path of the milkingsystem. If the milking system comprises a discharge line for dischargingmilk, which discharge line is connectable to the teat cup line, saiddischarge line is preferably disposed on an inner side of the closedpath of the milking system. If the milking system comprises a measuringdevice for measuring milk parameters, said measuring device ispreferably disposed on an inner side of the closed path of the milkingsystem.

The invention also relates to a milking pre-treatment device forperforming a milking pre-treatment on an animal and suitable for use inan assembly according to the invention, the milking pre-treatment devicebeing provided with a pre-treatment tool carrier, with a pre-treatmenttool carried by the pre-treatment tool carrier, and with a control unitfor controlling the functioning of the milking pre-treatment device. Ina preferred embodiment of a milking pre-treatment device according tothe invention, the pre-treatment tool carrier is movable. In a furtherembodiment of a milking pre-treatment device according to the invention,the milking pre-treatment device is provided with a device fordetermining the position of a teat of an animal. The milkingpre-treatment device is preferably provided with a movable contactingdevice for bringing a pre-treatment tool into contact with a teat of ananimal. The movable contacting device is in particular provided with agripping device for gripping a pre-treatment tool. It is advantageous ifthe pre-treatment tool carrier and the contacting device are integrated.

In a further embodiment of a milking pre-treatment device according tothe invention, the movable contacting device comprises a robot arm.

In again another embodiment of a milking pre-treatment device accordingto the invention, the pre-treatment tool carrier is movable, the milkingpre-treatment device comprising a closed path for the movablepre-treatment tool carrier, and a drive unit being provided for movingthe pre-treatment tool carrier along the closed path. The closed pathpreferably comprises a rail.

In a favorable embodiment of a milking pre-treatment device according tothe invention, the closed path comprises a common, cylindrical supportfor several pre-treatment tool carriers.

In an embodiment of a milking pre-treatment device according to theinvention, a pre-treatment tool is constituted by a spraying device forspraying and/or squirting a fluid on the teat, and the milkingpre-treatment device comprises at least one fluid line that is connectedto the spraying device. In this case it is advantageous if the fluidline extends towards an inner side of the closed path.

The invention also relates to a milking post-treatment device forperforming a milking post-treatment on an animal and suitable for use inan assembly according to the invention, the milking post-treatmentdevice being provided with a post-treatment tool carrier, with apost-treatment tool carried by the post-treatment tool carrier, and witha control unit for controlling the functioning of the milkingpost-treatment device. In an embodiment, the post-treatment tool carrieris movable. In a further embodiment, the milking post-treatment deviceis provided with a device for determining the position of a teat of ananimal. The milking post-treatment device is preferably provided with amovable contacting device for bringing a post-treatment tool intocontact with a teat of an animal. In this case it is advantageous if themovable contacting device is provided with a gripping device forgripping a post-treatment tool. The post-treatment tool carrier and thecontacting device are preferably integrated. In a still furtherembodiment of a milking post-treatment device according to theinvention, the movable contacting device comprises a robot arm.

In an embodiment of a milking post-treatment device according to theinvention, the post-treatment tool carrier is movable, the milkingpost-treatment device comprising a closed path for the movablepost-treatment tool carrier, and a drive unit being provided for movingthe post-treatment tool carrier along the closed path. The closed pathpreferably comprises a rail.

In an embodiment of a milking post-treatment device according to theinvention, the closed path comprises a common, cylindrical support forseveral post-treatment tool carriers. The common, cylindrical support ispreferably rotatable and there is provided a drive unit for rotating thecommon, cylindrical support.

In an embodiment of a milking post-treatment device according to theinvention, a post-treatment tool is constituted by a spraying device forspraying and/or squirting a fluid on the teat, the milkingpost-treatment device comprising at least one fluid line that isconnected to the spraying device. The fluid line preferably extendstowards an inner side of the closed path.

The invention further relates to a cleaning device suitable for cleaninga feed platform of an assembly according to the invention, the cleaningdevice being provided with a cleaning control unit for controlling thefunctioning of the cleaning device, and the cleaning device comprising adevice for determining the degree of contamination of the platform andfor supplying contamination-degree-signals to the cleaning control unit.The cleaning device is preferably an automatic cleaning device. In anembodiment of a cleaning device according to the invention, the cleaningdevice comprises a manure slide. The orientation of the manure slide ispreferably adjustable.

In a still further embodiment of a cleaning device according to theinvention, the cleaning device comprises a rotatable cleaning brush.

In an embodiment of a cleaning device according to the invention, thecleaning device comprises a sprayer for spraying and/or squirting afluid on the platform. The sprayer is preferably a high-pressuresprayer. In a favorable embodiment, the cleaning device is provided witha reuse device for making the fluid suitable for reuse. The cleaningdevice comprises in particular a heating element for heating the fluid.Moreover, it is advantageous if, in an embodiment of a cleaning deviceaccording to the invention, the cleaning device comprises a dryingdevice for drying the feed platform. The cleaning device is preferablyprovided with an outlet for discharging impurities.

The invention further relates to a separation device for separating ananimal, which separation device is suitable for use in an assemblyaccording to the invention in which the separation device is providedwith a separation control unit, the separation device comprising a cageand a cage displacing device for placing the cage over an animal, thedisplacing device comprising a drive unit. The displacing device is inparticular provided with a suspension structure for suspending the cage.In an embodiment of a separation device according to the invention, theseparation device is provided with a transmitter for transmittingseparation data.

The invention further relates to a feeding system suitable for use in anassembly according to the invention, the feeding system comprising afeed supply station for supplying feed to a feeding place, the feedsupply station being provided with a feed storage container and with aconveying device for removing feed from the feed storage container, andthe feeding system being provided with a control unit for controllingthe functioning of the feeding system. The conveying device ispreferably movable by a drive unit. In an embodiment of a feeding systemaccording to the invention, the conveying device comprises a firstconveyor for conveying feed from the feed storage container in upwarddirection, the first conveyor having a supply end for supplying feed. Ina further embodiment of a feeding system according to the invention, thefeed supply station is provided with a receptacle, the first conveyorconveying an amount of feed from the feed storage container to thereceptacle. The receptacle is preferably provided with a weighing devicefor weighing feed present in the receptacle. In an embodiment, thereceptacle has a bottom which is adapted to be opened, the control unitpreferably controlling the opening of the bottom of the receptacle.

In a further embodiment of a feeding system according to the invention,the conveying device comprises a second conveyor for conveying an amountof feed from the receptacle. The second conveyor is preferably atube-shaped chute or a channel-shaped chute.

In a still further embodiment of a feeding system according to theinvention, the feed storage container comprises a number of storagebins, the storage bins being disposed on a framework located around acentral axis. Each storage bin preferably comprises a discharge end,said discharge end corresponding with the relevant supply end of thefirst conveyor. The discharge ends of the storage bins in particularalternately stagger in height, the arrangement being such that thedischarge ends of juxtaposed storage bins partially overlap each otherin a projective view. It is advantageous if the second conveyor isrotatably disposed about the central axis.

The invention further relates to a milking system suitable for use in anassembly according to the invention, the milking system comprising amovable teat cup carrier and a movable connection device for connectinga set of teat cups to the teats of an animal, the movable teat cupcarrier being a self-propelled (autonomous) mobile teat cup carryingrobot, which mobile teat cup carrying robot is provided with milkingmeans for milking an animal on the feed platform, the milking meanscomprising at least a milk storage vessel for storing milk, a milkingvacuum source and a pulsation vacuum source, and with a control unit forcontrolling the functioning of the mobile teat cup carrying robot, andthe movable connection device for connecting a set of teat cups to theteats of an animal is a separate self-propelled (autonomous) mobile teatcup connecting robot, the mobile teat cup connecting robot beingprovided with a control unit for controlling the mobile teat cupconnecting robot.

In an embodiment of a milking system according to the invention, thecontrol unit of the teat cup carrying robot and the control unit of theteat cup connecting robot are provided with communication means formutual communication.

The invention further relates to a method of automatically milking ananimal, in which method is used an assembly with a movable feed platformaccording to the invention, and which method comprises the followingsteps: setting the movable feed platform in motion, allowing an animalaccess to the feed platform, subsequently allowing the animal exit fromthe feed platform, milking the animal on the feed platform during amilking period, the method further comprising the step of providing theanimal a span of time on the feed platform in which the animal is notmilked, said span of time having a magnitude amounting to at leastapproximately half the milking period, and the milking of the animalcomprising the connection of a teat cup, the teat cup being arrangedseparately from the feed platform, and the animal being allowed freeaccess to the feed platform. The invention is partially based on theinsight that dairy animals sometimes experience the mechanical way ofmilking as unpleasant, and consequently experience walking to andboarding the platform and the time spent on the platform as unpleasant,which may adversely affect the milk production and sometimes even themilk quality. By providing on the feed platform a span of time in whichthe animal is not milked it may be ensured that the animal willexperience boarding the platform and the time spent on the platform asless unpleasant. This span of time, which may also be called period ofrest, is a deliberately provided span of time, and it has been foundthat this span of time should not be too short, but should amount to atleast half a milking period to produce a noticeable effect on theanimal, which will then feel more at ease, and consequently to improvethe milk production. It is pointed out that the span of time as meant inthe method according to the invention should not be confused with theabove-mentioned dead time. This dead time, occurring in the knownassemblies, is the time an animal spends on the platform withoutundergoing a treatment that is usually associated with the milkingprocess, and, for the purpose of efficiently using the known assemblies,this dead time will be reduced to a minimum. Such a dead time occursbetween the moment the animal enters the platform and the connection ofthe teat cups and may occur between the disconnection of the teat cupsand the moment the animal leaves the platform. Contrary to the state ofthe art, according to the invention, there is provided on the contraryan extra long ‘dead time’ resulting, contrary to the expectations, in animproved milk yield. An unexpected improvement of the milk productionwill be provided in particular in combination with the teat cup beingdisposed separately from the feed platform; in other words, if theplatform is at least for the greater part free from teat cups, this willresult in more freedom in the construction of the feed platform andfreedom of movement for an animal.

In an embodiment of a method according to the invention, the span oftime has a magnitude lying between approximately one time the milkingperiod and approximately five times the milking period. A span of timehaving such a magnitude has appeared to be able to provide an improvedmilk production for all the animals, in particular in relation toquantity and quality.

In a further embodiment of a method according to the invention, themethod comprises the step of determining the identity of an animalpresent on the feed platform. The magnitude of the span of time is thenpreferably selected in dependence on the identity of the animal. It willbe obvious that, if several animals are present on the feed platform, itwill be possible to give a certain priority to one animal fordetermining the magnitude of the span of time, inter alia by means of acomputer provided with a memory containing data in relation to spans oftime per animal and a suitable program (possibly with priorityalgorithms) for selecting the span of time on the basis of thedetermined identity.

In a favorable embodiment of a method according to the invention, atleast a part of the span of time on the feed platform in which theanimal is not milked is provided after the animal has been milked on thefeed platform. In this manner an animal will be able to recover at leastpartially from the milking.

In a further embodiment of a method according to the invention, at leasta part of the span of time on the feed platform in which the animal isnot milked is provided before the milking of the animal on the feedplatform. Owing to this, after boarding the feed platform, an animal isnot immediately confronted with a milking related treatment, so that theboarding of the feed platform is not immediately associated with themilking process that is sometimes experienced as unpleasant.

In a further embodiment of a method according to the invention, themovable feed platform is moved continuously. Owing to this, the span oftime in which an animal is not milked corresponds to a particulardistance covered by the animal on the feed platform relative to thestationary world. Such a distance or area or zone may be designated asresting zone or resting station. Owing to this, the milking period inwhich an animal is milked corresponds to a particular distance coveredby the animal on the feed platform relative to the stationary world.Such a distance or area or zone may be designated as milking zone ormilking station. The animal on the feed platform thus passes differentstations or zones that are arranged as it were beside the feed platform.

In an alternative embodiment of a method according to the invention, themovable feed platform is set in motion intermittently. In this case itis advantageous if the feed platform is immobile during the span of timein which the animal is not milked. In this manner it is possible toreduce the size of the feed platform. In a further embodiment of amethod according to the invention, the feed platform may be immobileduring the milking of the animal on the feed platform.

In a further embodiment of a method according to the invention, themethod comprises the step of setting the feed platform in motion betweenthe milking of the animal on the feed platform and the part of the spanof time on the feed platform after the milking, in which part of thespan of time the animal is not milked. In a still further embodiment ofa method according to the invention, the method comprises the step ofsetting the feed platform in motion between the part of the span of timebefore the milking on the feed platform, in which part of the span oftime the animal is not milked, and the milking of the animal on the feedplatform.

In a particular embodiment of a method according to the invention, themagnitude of the part of the span of time after the milking is selectedin such a way that the orifice of at least one teat of the animal willbe closed after the span of time has elapsed. In a further embodiment ofa method according to the invention, the magnitude of the part of thespan of time after the milking is selected in such a way that theorifices of all the teats of the animal will be closed after the span oftime has elapsed. In this manner it is prevented that an animal thatleaves the platform and lies down somewhere will get one or morecontaminated teat orifices that increase the risk of infection anddeclined milk production.

In an embodiment of a method according to the invention in which it isprevented that the animal lies down in the part of the span of timeafter the milking, it is also prevented that the teat orifices getcontaminated on the feed platform.

In a further embodiment of a method according to the invention, aleg-treatment is performed in the part of the span of time after themilking. This makes it possible to improve the health of an animal, theleg-treatment being in particular desirable for improving the milkproduction of an animal. If desired, it is possible to performtreatments on the animal which are experienced by the animal aspleasant, such as back-brushing, cooling and the like.

In a further embodiment of a method according to the invention, in thespan of time on the feed platform no treatment is performed on theanimal. Refraining from such an active action on an animal ensures thatthe animal will experience a pleasant period of rest on the feedplatform, which may improve the milk production. It is pointed out herethat feeding and watering an animal should not be considered as atreatment, because an animal decides itself on consuming offered feedand drink.

In an embodiment of a method according to the invention, the milkingcomprises the performance of a milking pre-treatment. In a furtherembodiment of a method according to the invention, the milking comprisesthe performance of a milking post-treatment.

In an embodiment of a method according to the invention, the methodcomprises the step of locking the animal on the feed platform. Thelocking of the animal is preferably discontinued for allowing exit fromthe feed platform.

In a further embodiment of a method according to the invention, themethod further comprises the steps of deciding with the aid of acomputer, on the basis of the established identity, what treatment(s)the animal will undergo, and of treating the identified animal on thefeed platform. In this manner it is possible to treat each animal asdesired or required.

In a particular embodiment of a method according to the invention, aspeed of movement of the feed platform is selected partially on thebasis of the established animal identity.

In particular if the feed platform is designed as an at leastsubstantially circular one, it is advantageous if the animal is allowedaccess to the feed platform over an angle greater than 90°.

In particular if the feed platform comprises several feeding places, itis further advantageous if the feed platform is designed in such a waythat the animal boarding the feed platform is able to walk freely to anyfeeding place.

In an embodiment of a method according to the invention, the methodcomprises the step of supplying a sort of feed to a feeding place.

A simple method is obtained if a uniform sort of feed is selected forall the animals. Such a sort of feed may be supplied for example when orimmediately before the animal boards the platform.

In order to divert the animal from the milking, in an embodiment of amethod according to the invention, it is advantageous if the supply ofthe sort of feed immediately precedes the milking of the animal. Thesort of feed is preferably supplied when the animal is being milked.

A particularly favorable method according to the invention ischaracterized in that the sort of feed to be supplied is determined independence on the established identity of the animal. In this manner itis possible to provide an optimum feed consumption for an animal forobtaining an optimum milk yield.

In particular if the sort of feed is supplied during the span of time onthe feed platform in which the animal is not milked, the animal will beput at ease, which will not only result in an increased milk yield, butalso in a more animal-friendly method.

An embodiment of a method according to the invention is characterized inthat different sorts of feed are supplied to the animal on the feedplatform at different points of time. It is thus possible, for example,to supply roughage or ensilaged grass upon boarding the platform, tosupply concentrate during or immediately before the milking, andsubsequently to supply brewer's grains or the like in a resting zoneafter the milking.

In order to ensure that an animal is allowed to realize a sufficientfeed consumption during its stay on the feed platform, an embodiment ofa method according to the invention is characterized in that the speedof movement of the feed platform is selected partially on the basis of afeed consumption duration of an animal present on the feed platform.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention will be explained hereinafter in further detail withreference to a number of exemplary embodiments shown in the drawings, inwhich:

FIG. 1 is a diagrammatic plan view of a first embodiment of an assemblyaccording to the invention, comprising a movable platform thatconstitutes a straight path and is provided with reversing rollers andwith confining means for confining animals, the assembly having a wideentrance and exit that are adapted to be closed by a respective gate;

FIG. 2 is a diagrammatic, partially cross-sectional side view of theassembly of FIG. 1;

FIG. 3 is a diagrammatic plan view of a second embodiment of an assemblyaccording to the invention, comprising a movable, substantiallydisc-shaped platform, the platform being provided with separation meansfor partially separating animals, the assembly having an entrance and anexit for only one animal, which are adapted to be closed by a respectivegate, the animals standing on the platform under an angle relative tothe radial;

FIG. 4 is a diagrammatic plan view of a third embodiment of an assemblyaccording to the invention, comprising a movable, substantially annularplatform, the platform being free from confining means for confininganimals and free from separation means for separating animals, theassembly having an entrance and an exit for several animals, theentrance being adapted to be closed by a respective gate, the exit beingfree from a gate, and the animals standing radially on the platform;

FIG. 5 is a diagrammatic plan view of a fourth embodiment of an assemblyaccording to the invention, comprising a movable platform that comprisestwo annular platform units, the platform being free from confining meansfor confining animals, the assembly having an entrance and an exit forseveral animals, which are free from a closing device, and the animalsstanding radially on the platform;

FIG. 6 is a diagrammatic plan view of a fifth embodiment of an assemblyaccording to the invention, provided with a movable, substantiallyannular platform, the platform being free from confining means forconfining animals, the assembly having an entrance and an exit forseveral animals, which are free from closing means, and the animalsstanding radially on the platform;

FIG. 7 a is a diagrammatic, perspective view of a locking feeding gateon an annular platform of an assembly according to the invention;

FIG. 7 b is a diagrammatic, perspective and partially cut-away view of apart of the locking feeding gate of FIG. 7 a;

FIG. 8 a is a diagrammatic front view of an embodiment of a feed troughof a platform of an assembly according to the invention;

FIG. 8 b is a diagrammatic, partially cross-sectional side view of thefeed trough of FIG. 8 a;

FIG. 8 c is a diagrammatic, perspective view of a guide structure forsupporting feed troughs of a feed platform in an embodiment of anassembly according to the invention;

FIG. 8 d is a diagrammatic, cross-sectional view of a feed trough in aweighing area in the embodiment according to FIG. 8 c;

FIG. 8 e is a diagrammatic, cross-sectional view of a feed trough thatis supported by the guide structure in such a way that feed can slidefrom the feed trough;

FIG. 8 f is a diagrammatic, cross-sectional view of a feed trough thatis supported by the guide structure in such a way that the feed troughis inaccessible to an animal;

FIG. 8 g is a diagrammatic side view of an alternative embodiment of atiltable feed trough of a feed platform of an assembly according to theinvention;

FIG. 9 is a diagrammatic, perspective view of a first embodiment of adeterring device of an assembly according to the invention;

FIG. 10 a is a diagrammatic, perspective view of a second embodiment ofa deterring device of an assembly according to the invention;

FIG. 10 b is a diagrammatic, perspective view of a third embodiment of adeterring device of an assembly according to the invention;

FIG. 10 c is a diagrammatic, perspective view of a fourth embodiment ofa deterring device of an assembly according to the invention;

FIG. 11 a is a diagrammatic, partially cross-sectional view of a part ofa first embodiment of a feeding system of an assembly according to theinvention;

FIG. 11 b is a diagrammatic, perspective view of the feeding systemaccording to FIG. 11 a;

FIG. 12 a is a diagrammatic, partially cross-sectional view of a part ofa second embodiment of a feeding system of an assembly according to theinvention;

FIG. 12 b is a diagrammatic view of an embodiment of a receptacle withclosable bottom of a feeding system of an assembly according to theinvention;

FIG. 13 a is a diagrammatic plan view of a first embodiment of a milkingsystem of an assembly according to the invention, the milking systembeing provided with stationary robot arms pivoting along with theplatform;

FIG. 13 b is a diagrammatic plan view of a part of a second embodimentof a milking system of an assembly according to the invention, themilking system being provided with an autonomous, freely movable teatcup connecting robot;

FIG. 13 c shows diagrammatically a perspective partial side view of theembodiment of FIG. 13 b;

FIG. 13 d shows a third embodiment of a milking system of an assemblyaccording to the invention, the milking system being provided with aconnection device that is movable along a rail and with teat cupcarriers movable along a rail;

FIG. 13 e shows a fourth embodiment of a milking system of an assemblyaccording to the invention, the connection device being disposed belowthe feed platform;

FIG. 14 shows diagrammatically in a perspective view an embodiment of aseparation device for an assembly according to the invention;

FIG. 15 shows diagrammatically in side view an alternative embodiment ofa cleaning device for cleaning cups in an assembly according to theinvention;

FIG. 16 a shows diagrammatically in plan view an embodiment of acleaning device for cleaning a feed platform of an assembly according tothe invention;

FIG. 16 b shows diagrammatically in side view the cleaning device asshown in FIG. 16 a;

FIG. 17 shows diagrammatically in plan view a further embodiment of anassembly according to the invention, in which the feed platformco-operates with inter alia freely movable teat cup carriers;

FIG. 18 shows diagrammatically in side view an autonomous feed supplyingrobot.

FIG. 19 shows diagrammatically in side view an embodiment of a mobilesoaking robot of a milking system of an assembly according to theinvention;

FIG. 20 shows diagrammatically in side view a first embodiment of amobile pre-treatment robot of a milking system of an assembly accordingto the invention;

FIG. 21 a shows diagrammatically in side view an embodiment of anautonomous, mobile teat cup carrying robot of a milking system of anassembly according to the invention;

FIG. 21 b shows diagrammatically in side view an embodiment of anautonomous, mobile teat cup connecting robot of a milking system of anassembly according to the invention;

FIG. 21 c shows diagrammatically in side view a mobile, autonomous teatcup carrying robot with integrated connection device for automaticallyconnecting teat cups;

FIG. 21 d shows diagrammatically in plan view the mobile, autonomousteat cup carrying robot according to FIG. 21 c;

FIG. 22 a shows diagrammatically in side view an embodiment of an animalgripping robot of an assembly according to the invention;

FIG. 22 b shows diagrammatically in rear view the animal gripping robotof FIG. 22 a with animal;

FIG. 22 c shows diagrammatically in rear view the animal gripping robotof FIG. 22 a without animal;

FIG. 23 shows diagrammatically in side view an embodiment of anautonomous, mobile feed platform cleaning robot of an assembly accordingto the invention;

FIG. 24 shows diagrammatically a partially cross-sectional side view ofa mobile robot coupled to a multifunctional robot-treatment station, and

FIG. 25 shows diagrammatically in plan view a camera monitoring systemfor a feed platform with position marks according to an embodiment of anassembly according to the invention.

DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS

FIG. 1 shows diagrammatically in plan view and FIG. 2 showsdiagrammatically in side view a first embodiment of an assembly forfeeding and milking animals, such as for example goats or cows,according to the invention. The invention will be described hereinafterwith reference to cows, although it is obvious that the invention is notlimited thereto, but may also be applied to all other dairy animals.

In the first embodiment, the assembly comprises a feeding system with amovable feed platform 1. The movable platform 1 constitutes a straightpath with an initial end 2 and a final end 3. As shown in FIG. 2,reversing rollers 4, 5 are disposed at the initial end 2 and at thefinal end 3, so that the movable platform 1 forms a closed path.

It will be obvious that the movable platform 1 may also assume otherforms than a straight path. As will be described hereinafter withreference to other embodiments, the movable platform may be disc-shapedor annular. However, the movable platform may also assume a meanderingform.

As shown in FIG. 2, there is provided a drive unit 6 for driving themovable feed platform 1. The driving may be performed in a manner knownper se. Although the drive may be a continuous drive, it is advantageousif the drive unit 6 is controlled by a control unit 7. Said control unit7 may be a separate control unit, but is preferably connectable to afeeding system control unit 8 that is connectable to other control unitsof the feeding system, as will be explained hereinafter in furtherdetail. Such a connection may take place in a wireless manner with theaid of transmitters and receivers or by means of cables.

The feed platform 1 is provided with a number of feeding places 9. Inthe embodiment shown, the movable feed platform 1 is dimensioned in sucha way that maximally 24 cows can be present simultaneously on themovable feed platform 1. However, it will be obvious that any other sizewill be possible as well.

Although a feeding place 9 does not need extra facilities for carryingfeed—the feed may be disposed on the surface of the feed platform 1itself—in the embodiment shown, each feeding place 9 comprises a feedtrough 10 with an entrance opening for a cow. The feed trough 10 isarranged in such a way that the entrance opening is orientatedtransversely to the usual direction of movement of the feed platform 1,which direction of movement is indicated by means of arrows in FIGS. 1and 2. Because of this arrangement, a cow standing in a feeding place 9will be positioned at least substantially transversely to the usualdirection of movement of the feed platform 1. It will be obvious thatthe feeding places 9 may also be arranged in such a way that cowsboarding the feed platform 1 will assume an oblique position on the feedplatform 1.

In the embodiment shown in FIGS. 1 and 2, the feeding places 9 areseparated by confining means 11 for confining cows. The confining means11 are disposed in such a way that each feeding place 9 can be occupiedby only one cow.

Cows are able to reach the feed platform 1 from an area 12 where theyare allowed to move freely. Such an area 12 may be a stable or a meadow.In the embodiment shown in FIGS. 1 and 2, an entrance 13 between thearea 12 and the feed platform 1 is wide enough to enable simultaneousaccess of several cows to the feed platform 1. In the embodiment shown,the entrance 13 covers five feeding places 9, although a wider entrancewill be possible as well. It is also pointed out that hereinafterembodiments will be described in which the entrance has such a widththat cows are able to get access to the platform only one by one.

A closing device 14 is disposed between the area 12 where the cows areallowed to move freely and the entrance 13 to the feed platform 1. Theclosing device 14 is for example a gate that is adapted to be openedonly in the direction towards the feed platform 1. In the embodimentshown, the closing device 14 is controlled by a control unit 15 thatopens the closing device 14 for example periodically.

The cows are able to leave the feed platform 1 via an exit 16 locatedremotely from the entrance 13 and leading to the area 12 where the cowsare allowed to move freely. Also in this case, the exit 16 issufficiently wide to enable simultaneous exit of several cows to thearea 12. In the embodiment shown, the width of the exit 16 is equal tofour feeding places 9. A closing device 17 is disposed in the exit 16.The closing device 17 is for example a gate that is adapted to be openedonly in the direction away from the feed platform 1. In the embodimentshown, the closing device 17 is controlled by a control unit 18 thatopens the closing device 17 for example periodically. In addition to aperiodic opening of the closing device 17, the control unit 18 iscapable of controlling the closing device 17 with the aid of data froman animal-recognition unit 19 that is capable of detecting the presenceof a cow between feed platform 1 and closing device 17.

As shown in FIG. 1, at the exit 16 the feed troughs 10 are moved in thedirection away from the platform 1, so that the cows are stimulated toleave the feed platform 1. Since the cows are able to leave the feedplatform 1 walking forwards, leaving the feed platform 1 takes placevery efficiently. If desired, there may be provided additional removingmeans, such as a movable gate portion, a squirt of air or water or thelike, for removing cows from the platform.

Beside the feed platform 1, between the entrance 13 and the exit 16, atthe edge where the rear sides of the cows are located, there is disposeda back wall 89 or a gate or the like, so that it is impossible for thecows to leave the feed platform 1 backwards.

Although only one entrance and one exit are shown in the exemplaryembodiment, it will be obvious that the feed platform 1 is dimensionedin such a way that several entrances and exits may be provided.

When a cow is present in a feeding place 9, she is confined by the feedtrough 10, the confining means 11 and the back wall 89, but she is notlocked or the like. It has been found that, owing to the fact that thecows are eating during at least the greater part of their stay on thefeed platform 1, it is not problematic for them to stay in the feedingplace 9 for a rather long time. It has been found that a rotationalspeed of the feed platform from approximately 0.05°/s to approximately0.15°/s provides for a complete feed consumption for at least almost allthe cows during their stay on the feed platform 1.

In the embodiment shown, the feeding system control unit 8 is providedwith a memory for containing feed-consumption-duration data per cow. Thefeeding system control unit 8 controls the control unit 7 of the driveunit 6 with the aid of said feed-consumption-duration data. This makesit possible to adapt the speed of movement of the feed platform 1 to thecow having the fastest feed consumption, so that it may be expected thatthis cow, and consequently also the other cows, will be eatingthroughout their stay on the feed platform 1. In order to find out whichcows are present on the feed platform 1, animal-recognition units 20 aredisposed opposite the entrance 13 beside the feed platform 1. Theseanimal-recognition units 20 and the animal-recognition unit 19 areconnectable to the feeding system control unit 8 for supplying it withanimal-recognition information.

In the embodiment shown in FIGS. 1 and 2, the feeding system comprisesthree feed supply stations 21, 22, 23 for supplying feed to a feedingplace 9. It will be obvious that a feed supply station may also besuitable for supplying, in addition to feed, water or an other fluid, toa feeding place 9.

The feed supply stations 21, 22, 23 are arranged stationarily at theside of the movable feed platform 1 opposite the entrance 13. In theembodiment shown, each feed supply station 21, 22, 23 is provided with aconveying device in the form of a gripping arm 24, 25, 26 for conveyingfeed from one or more feed storage containers to a feeding place 9 (aswill be explained hereinafter in further detail). A gripping arm 24, 25,26 is rotatably mounted about an axis of rotation 27, 28, 29 extendingsubstantially vertically. A gripping arm is further provided with armportions that are pivotably interconnected.

The gripping arms 24, 25, 26 are controlled in a proper manner by thefeeding system control unit 8 which, upon conveying feed, takes thedrive unit 6 of the feed platform 1 into account, the drive of thegripping arm 24, 25, 26 being in particular such that the gripping arm24, 25, 26 moves temporarily synchronously with the feed platform 1. Itwill be obvious that conveying means other than gripping arms may beused as well within the scope of the invention. A few alternativeembodiments will be explained hereinafter in further detail. It is alsopossible to supply the feed manually to the feeding places 9.

The feed supply station 21 is disposed opposite the entrance 13 andcomprises one feed storage container 30 for containing one sort of feed,such as roughage or other basic feed. The feeding system control unit 8is capable of controlling the feed supply station 21 in such a way thatin each feed trough 10 a minimum amount, for example 1 kg, of roughageis supplied. Consequently, each feeding place 9 will be equallyinteresting for a cow, and a cow will not be inclined to leave a feedingplace because of the absence of feed. When a feeding place 9 appears tobe occupied by a cow, as may be detected by the animal-recognition units20, the feeding system control unit 8 will control the feed supplystation 21 in such a way that a complete amount of roughage will besupplied to the feed trough 10. In order to be able to containsufficient roughage, each feed trough 10 has a content of at leastapproximately 20 dm3.

In order to entice cows to the feed platform 1, in the embodiment shown,the feed platform 1 is the only device in the assembly where the cowscan freely obtain feed (it is pointed out here that within the scope ofthe invention a meadow is not considered as a device for supplyingfeed).

The feed supply station 22 is suitable for supplying per cow a differentamount and sort of feed, owing to the fact that it is provided withseveral feed storage containers 31, 32, 33, 34. In this case the feedsupply station 22 is disposed immediately before a milking zone 90 (asdescribed in what follows). Controlled by the feeding system controlunit 8 and with the aid of data from the stationarily arrangedanimal-recognition unit 35, the feed supply station 22 is capable ofsupplying, immediately before the milking, an amount and sort of feedthat differs per cow. To give the gripping arm 25 sufficient time toconvey the desired sorts of feed, the animal-recognition unit 35 isdisposed at a suitable distance before the milking zone 90. The feedstorage containers 31, 32, 33 and 34 are disposed on a framework locatedaround a central axis extending in line with the axis of rotation 28.

The feed supply station 23 is disposed immediately after the milkingzone 90 and is, analogously to the feed supply station 21, provided witha single feed storage container 36 for containing for example roughage.An animal-recognition unit 37 is suitable for determining whether afeeding place 9 is occupied and sends signals to the feeding systemcontrol unit 8 for supplying roughage to an occupied feeding place 9.

The gripping arms 24, 25, 26 may be provided with sensors (not shown butknown per se) or the like for weighing the amount of feed taken by thegripping arms 24, 25, 26. Each feed trough 10 may also be provided witha weighing device for weighing feed present in a feed trough 10. Theweighing signals obtained may be supplied to the feeding system controlunit 8. Some embodiments of a feed trough 10 with weighing device andother features will be described hereinafter with reference to furtherembodiments of an assembly according to the invention, but it will beobvious that those embodiments of a feed trough may also be applied inthe embodiment as shown in FIGS. 1 and 2.

In the embodiment shown in FIG. 2, the feeding system is furtherprovided with a provisioning system 38 for automatically provisioningthe feed storage containers 31, 32, 33, 34, 36. The provisioning system38 comprises a rail system 39 that is suspended above the feed platform1 and comprises at least one feed gripper 40 that is driven in acontrolled manner. The feed gripper 40 is movable by means of wheels 41along the rail system 39 to above the feed storage containers. Each feedstorage container may be provided with a device for determining thecontents of the feed storage container. Such a device may be a weighingdevice or a device for determining the height of the feed present in thefeed storage container. The latter device may be provided withultrasonic sensors that are disposed for example on the feed gripper 40.Alternatively, a camera system for monitoring the feeding system, inparticular the interior of a feed storage container, may be used, whichcamera system is provided with suitable picture-recognition equipmentand is connectable to the feeding system control unit 8.

Upon detection that a feed storage container contains insufficient feedand consequently has to be replenished, the device for determining thecontents of the feed storage container supplies a signal to the feedingsystem control unit 8 that causes the feed gripper 40 to move tonon-shown storage bins, for example arranged outside the stable, wherethe feed gripper 40 grips an amount from the relevant storage bin andconveys it to the relevant feed storage container. Such a feedprovisioning system may be a fully automatically operating system.

As shown in the embodiment of FIGS. 1 and 2, the assembly furthercomprises a milking system for automatically milking cows on the feedplatform 1. It is pointed out here that the presence of a milking systemdoes not necessarily mean that a cow has to be milked each time when sheis present on the feed platform 1. For actually milking a cow may beused the animal-recognition unit 35 that recognizes a cow immediatelybefore the milking zone 90. In a milking system control unit 42 may beincluded a milking criterion that determines when a cow is to be milked.Such a milking criterion may be for example a predetermined period thatshould have elapsed since the last milking of the relevant cow. Othercriteria known per se may be applied as well within the scope of theinvention. The milking system control unit 42 preferably controls allthe milking related processes. In the embodiment shown, the milkingsystem control unit 42 is separate from the feeding system control unit8, but these control units may alternatively be interconnectable formutual co-operation or be connectable to a central control unit.

The milking system as shown in FIGS. 1 and 2 is provided with astationary teat cup carrier 43 arranged beside the feed platform 1 forcarrying at least one set of teat cups 44. To set out clearly theposition of the teat cup carrier 43, the latter is shown in FIG. 2 atthe side of the feed platform 1 opposite its actual position. The sameholds for the other milking related components. It will be obvious that,within the scope of the invention, other embodiments of teat cupcarriers, some of which will be explained hereinafter in further detail,may be applied as well.

In this embodiment, no sets of teat cups at all are disposed on the feedplatform 1 itself, so that the feed platform 1 is free from teat cups.In the embodiment shown, only eight sets of teat cups 44 are disposedseparately from the feed platform 1, which is considerably less than thenumber of feeding places 9.

For connecting a set of teat cups 44 to the teats of a cow, the milkingsystem is provided with a movable connection device 45 which, in theembodiment shown, comprises a robot arm 47 that is rotatable about anaxis 46. The robot arm 47 has a gripping device 48 (FIG. 2) for grippingteat cups disposed on the teat cup carrier 43. In order to be able toconnect the teat cups correctly to the teats of a cow, in the embodimentshown, a teat position determining device 49 (FIG. 2) for determiningthe position of a teat of a cow is disposed on the robot arm 47. Such ateat position determining device 49 is known per se and may be providedwith one or more lasers, ultrasonic sensors, camera withpicture-recognition software and the like. It will be obvious that,within the scope of the invention, also teat position determiningdevices may be applied that are not disposed on the robot arm 47, but onother components of the assembly, it also being possible that the teatposition determining device is a separate unit that is arrangedstationarily or movably beside or on the feed platform 1.

The teat cup carrier 43 comprises a common, cylindrical support 51 forthe sets of teat cups 44. It is pointed out here that, within the scopeof the invention, cylindrical is not limited to a shape having a uniformround cross-section, but that other cross-sectional shapes, possiblyvarying in size, may be applied in the invention as well.

Each set of teat cups 44 is connected to a teat cup line 50 that extendstowards an inner side of the cylindrical support 51. In the embodimentshown, the teat cup lines 50 extend to a milk tank 52 (FIG. 2) disposedin a cellar space 53 below the feed platform 1. It will be obvious thatthe milk tank 52 may be located alternatively in another place, forexample at equal level with the feed platform 1. The teat cup lines 50may also be connected to and debouch into a common discharge line fordischarging milk, which discharge line leads to the milk tank 52 and ispreferably disposed inside the cylindrical support 51.

Although, for the sake of simplicity of the drawing, not shown in FIGS.1 and 2, a milking vacuum source, a pulsation vacuum source and ameasuring device for measuring milk parameters are disposed inside thecylindrical support 51. Owing to the fact that these sources aredisposed close to the teat cups, an energy-saving assembly is obtained.The measuring device, which preferably comprises a measuring unit perset of teat cups 44 and most advantageously comprises a measuring unitper teat cup, may ensure that milk already yielded at an early stage andnot meeting the desired requirements is conveyed in such a way that itdoes not get into the milk tank 52.

The functioning of the assembly may be set optionally on intermittentmovement or on continuous movement of the feed platform 1. If the feedplatform 1 is driven intermittently by the drive unit 6 under thecontrol of the control unit 7, it may be ensured that the feed platform1 is immobile at the moment of connecting the teat cups. It is thuspossible to move the movable robot arm 47 in a simple manner for theconnection of the teat cups. If the feed platform 1 is movedcontinuously, the drive of the movable robot arm 47 is capable of beingsynchronized with the drive unit 6 of the feed platform 1. For thispurpose, the feeding system control unit 8 and the milking systemcontrol unit 42 are interconnectable.

There is provided a teat cup cleaning device 54 (FIG. 2) for cleaningteat cups. In the embodiment shown, the teat cup cleaning device 54 isconstituted by a robot arm which is rotatable about an axis and which isprovided at its end with a spraying device. It will be obvious that,within the scope of the invention, other devices, known per se, forcleaning teat cups may be applied. The assembly is analogously providedwith a (non-shown) cleaning device for cleaning the further milkingmeans, such as for example the milk tank, teat cup lines and the like.

The embodiment of the assembly as shown in FIGS. 1 and 2 is providedwith a milking pre-treatment device 55 for performing a milkingpre-treatment on a cow on the feed platform 1. The milking pre-treatmentdevice 55 has a stationary, cylindrical pre-treatment tool carrier 56for carrying a pre-treatment tool 57, in this case constituted by eightpairs of brushes. The milking system control unit 42 controls thefunctioning of the milking pre-treatment device 55.

In the embodiment shown, the connection device 45 for connecting theteat cups to the teats of a cow is also used for gripping a pair ofbrushes and for bringing the pair of brushes into contact with a teat ofa cow. In this case the teat position determining device 49 fordetermining the position of a teat of a cow is advantageously used. Inthe milking pre-treatment device 55, the movable robot arm 47 is thusused as a movable contacting device for gripping a brush and bringing apair of brushes into contact with the teats of a cow.

In the embodiment shown, each pair of brushes 57 is provided with a(non-shown) spraying device for spraying and/or squirting a fluid on theteat. The spraying device is connected to a fluid source via a fluidline that extends towards an inner side of the brush carrier.

It will be obvious that, within the scope of the invention, otherpre-treatment devices, known per se, may be used.

As clearly shown in FIG. 1, the assembly comprises a cleaning device 58for cleaning the pairs of brushes. In this embodiment, said cleaningdevice 58 is analogous to the teat cup cleaning device 54.

In the embodiment shown, the assembly is also provided with a milkingpost-treatment device for performing a milking post-treatment on a teatof a cow on the feed platform 1. In the embodiment shown, the milkingpost-treatment device is constituted by the teat cup cleaning device 54,the spraying device for the post-treatment being connectable to anotherfluid, for example a disinfecting fluid. In order to direct the sprayingdevice correctly to the teat of a cow, the robot arm carrying thespraying device may be provided with a teat position determining device.The milking system control unit 42 controls the functioning of themilking post-treatment device. It will be obvious that, within the scopeof the invention, other milking post-treatment devices may be applied aswell. There may be applied for example a milking post-treatment devicewhich, analogously to the milking pre-treatment device 55, is providedwith pairs of brushes possibly comprising a spraying device.

As is in particular apparent from FIG. 2, the assembly is provided witha cleaning device 59 for cleaning the feed platform 1. Said platformcleaning device 59 is arranged stationarily in the cellar space 53 belowthe feed platform 1 and is located, viewed in the direction of movementof the feed platform 1, between the exit 16 and the entrance 13.

When the feed platform 1 rotates downwards at the reversing roller 5,material will fall down from the feed platform 1. In a suitable placebelow the feed troughs 10 there is arranged a feed receptacle 60 forcollecting feed falling from the feed troughs 10. The feed receptacle 60is provided with a device 61 for mixing and crushing the collected feed.This processed feed may be reused, if desired.

Contamination occurs in particular on the part of the feed platform 1that is located at the rear side of the cows. In a suitable place belowthis part of the feed platform 1 there is arranged a manure receptacle62 for collecting manure and other impurities falling from the feedplatform 1. The manure receptacle 62 is provided with a manure analysingdevice 75 for analysing manure, which manure analysing device 75transfers the analysis results to the milking system control unit 42.

In the embodiment shown, the cleaning device 59 further comprises threemanure slides 63, 64, 65 for removing manure and the like from thesurface of the feed platform 1. The manure slides 63, 64, 65 may bearranged stationarily. In this case the confining means 11 have such ashape that the confining means 11 and the manure slides 63, 64, 65 donot hinder each other. The manure slides 63, 64, 65 are each arrangedunder an angle relative to the usual direction of movement of the feedplatform 1. It will be obvious that a number of manure slides other thanthree may be used within the scope of the invention. Moreover, there mayalso be used movable manure slides, the movement being performedpreferably in the direction away from the feed troughs 10. Such amovement may be controlled with the aid of a cleaning control unit 66.Said cleaning control unit 66 is connected to the milking system controlunit 42. This makes it possible for example to perform a specificcleaning when the milking system control unit 42 receives informationfrom a measuring device for the milk parameters that a particular cow isill. Of course, the cleaning control unit 66 also controls the othercomponents of the device 59, so that an automatic cleaning device 59 canbe obtained.

Viewed in the direction of movement of the feed platform 1, in theembodiment of the assembly according to the invention shown in FIG. 2,the cleaning device 59 is provided, after the manure slides 63, 64, 65,with two high-pressure sprayers 67 for squirting a fluid on the feedplatform 1. By way of fluid may be used water, complemented, if desired,with the usual detergents, cleansing agents and/or disinfecting means.There is provided a heating element 68 for heating the fluid. Theheating element 68 is controlled by the cleaning control unit 66 and iscapable of heating the water to maximally approximately 95° C. forobtaining a better cleaning. In the embodiment shown, the high-pressuresprayers 67 comprise rows of spray nozzles that are arrangedstationarily over the width of the feed platform 1 in such a way thatthey squirt the fluid under an angle in a direction away from the feedtrough 10. It will be obvious that different numbers and sorts ofsprayers for spraying and/or squirting may be applied as well within thescope of the invention. It is also possible to use a row of spraynozzles that is movable in a direction away from the feed troughs 10.

The cleaning device 59 is additionally provided with a device 69 fordetermining the degree of contamination of the platform 1, such as forexample a camera. The camera 69 supplies contamination signals to thecleaning control unit 66, which is capable of activating the sprayers 67in such a way that the places having the highest degree of contaminationwill be sprayed most thoroughly.

Viewed in the direction of movement of the feed platform 1, in theembodiment of the assembly according to the invention shown in FIG. 2,the cleaning device 59 is provided, after the sprayers 67, with tworotatable cleaning brushes 70. The cleaning brushes 70 are arrangedstationarily and extend over almost the entire width of the feedplatform 1. Alternatively, the cleaning brushes 70 may be designed asmovable ones, the movement being preferably controlled by the cleaningcontrol unit 66. It will be obvious that any other number than thenumber of cleaning brushes shown in the drawing may be applied withinthe scope of the invention. Moreover, in a non-shown embodiment,cleaning brushes and sprayers may alternate.

The impurities with the spraying fluid will, of course, fall down fromthe feed platform 1 by gravitational force. These impurities arecollected in a storage container 71 for impurities, which is disposedbelow the feed platform 1, and are discharged via an outlet 72. Apurification device 73 for at least partially purifying thefluid/impurities mixture is integrated in the storage container 71 forimpurities. Such a purification device is generally known and will notbe described here in further detail. Said purification device 73 may beused for making the fluid suitable for reuse.

Viewed in the direction of movement of the feed platform 1, in theembodiment of the assembly according to the invention shown in FIG. 2,the cleaning device 59 is provided, after the cleaning brushes 70, witha drying device 74 for drying the feed platform 1. The drying device 74comprises blow nozzles for blowing air under pressure on the feedplatform 1, which air may have been heated, if desired, under thecontrol of the cleaning control unit 66 for accelerating the dryingprocess. In the embodiment shown, the drying device 74 comprisesstationary rows of blow nozzles that are arranged over almost the entirewidth of the feed platform 1. In a non-shown alternative embodiment, thedrying device may comprise a row of blow nozzles that is movable acrossthe feed platform 1 in the direction away from the feed troughs 10.

As described in the foregoing, in the embodiment shown, the teat cuplines 50 extend to the milk tank 52 (FIG. 2) disposed in the cellarspace 53 below the feed platform 1. In the embodiment shown, theassembly comprises a cooling unit 76 for cooling the milk obtainedbefore it is conveyed to the milk tank 52. The cooling unit 76 iscontrolled by a cooling control unit 77 that is connected to the milkingsystem control unit 42.

When the milk tank 52 has to be emptied, this may take place in acustomary manner by means of a milk tank outlet 78 that extends in theembodiment shown to outside the cellar space 53, so that exhaust gasesof a milk tank truck 79 do not get into the cellar space 53.

In the embodiment shown in FIGS. 1 and 2, the assembly is provided witha separation device 80 for separating a cow standing on the platform 1and for leading the separated cow away from the platform 1. It ispointed out that in FIG. 2, for the sake of clearness, the separationdevice 80 is shown mirrorwise relative to the feed platform 1 incomparison with its actual position. The separation device 80 is anautomatic separation device that is controlled by a separation controlunit 81. The separation device 80 comprises a cage 82 and a displacingdevice comprising in the embodiment shown a motor 83 as a drive unit anda rail system 84 for placing the cage 82 over a cow. The cage 82 issuspended above the feed platform 1 by means of a suspension structurecomprising wheels 85. The rail system 84 is arranged in such a way thatthe cage 82 is capable of being displaced both transversely to the usualdirection of movement of the feed platform 1 and along with the usualdirection of movement of the feed platform 1.

For a correct displacement of the cage 82, the motor 83 is capable ofbeing driven synchronously with the drive unit 6 of the feed platform 1by means of the separation control unit 81.

A transmitter/receiver installation is integrated in the separationcontrol unit 81 and serves for remotely receiving separation commandsand for transmitting a message that a particular cow has been separated.This makes it possible for a farmer to order remotely that a particularcow is to be separated and subsequently to receive a message when thatcow has actually been separated. After having been separated, a cow willstay in the separation area 86 until she will be removed by a farmer.The farmer may perform a particular treatment on the cow in thisseparation area 86. It is possible, of course, that the separation iscontrolled automatically for example by the central control unit fordetermining periodically the weight of a cow. For this purpose, theseparation area 86 is provided with a weighing device 87 for weighingthe cow. After the weighing, the central control unit is capable ofallowing the cow exit from the separation area 86 by opening a gate 88.

Hereinafter the functioning of the embodiment of the assembly as shownin FIGS. 1 and 2 will be described briefly.

The control unit 15 opens the closing device 14 every 9 minutes andcloses it when maximally 5 cows have been counted by a (non-shown)counting device, or when a particular threshold time, such as forexample 1 minute, has elapsed. The counting device may be constitutedfor example by a camera with suitable software. Hereafter the cowspresent in the entrance 13 are able to board the, in principlecontinuously, moving feed platform 1. Each feed trough 10 contains aminimum amount of basic feed and, when a cow is detected at a feedtrough 10 by an animal-recognition unit 20, the first feed supplystation 21 is controlled in such a way that a complete portion of basicfeed is supplied to the feed trough 10.

When a cow present on the feed platform 1 leaves the entrance zone 13 bythe movement of the feed platform 1, she will be confined at her rearside by the back wall 89. As indicated by the interrupted lines, a cowspends on the feed platform 1 a certain span of time in which she isable to consume the basic feed until she reaches the milking zone 90. Inthis span of time the cow is not milked. In the embodiment shown, thisspan of time amounts to approximately 10 minutes, which is comparable inorder of magnitude to the average milking period. However, it will beobvious that within the scope of the invention spans of time havingother magnitudes may be applied as well, the span of time having amagnitude that amounts to at least approximately half the milking periodand maximally approximately five times the milking period.

In the embodiment shown, the magnitude of the span of time is selectedin dependence on the identity of the cow, so that she may be expected tobe able to consume the complete amount of basic feed. Consequently, thefeeding system control unit 8 controls the drive unit 6 of the feedplatform 1 in such a way that the cow having the longestfeed-consumption-duration, as recorded in a memory in the feeding systemcontrol unit 8, will have sufficient time to consume feed. The driveunit 6 is thus capable of decelerating or accelerating the speed ofmovement of the feed platform 1. It is possible, if desired, bydetermining the weight of the feed trough 10 immediately before reachingthe milking zone 90, to stop the drive unit 6 of the feed platform 1under the control of the feeding system control unit 8, which receivesweight determination data, to ensure that the cow will consume theremaining feed.

When the cow reaches the milking zone 90, it is decided on the basis ofthe milking criterion whether or not the cow is to be milked. When a cowis eligible for milking, the feed supply station 22 supplies concentrateattuned to that particular cow and the teats of the cow are firstcleaned, massaged and stimulated with the aid of the brushes withsprayers. Hereafter, the teat cups 44 that are disposed separately fromthe feed platform 1 are connected automatically. After a cow has beenmilked out sufficiently, the teat cups are disconnected automaticallyand the teats are post-treated by disinfecting them with a spray. Thetotal milking time, including pre-treatment and post-treatment, amountsto approximately 8 to 15 minutes in dependence on the cow. When a cowneeds not to be milked, the feed supply station 22 supplies an amount ofbasic feed to the feed trough 10.

After the post-treatment has been finished, the feed supply station 23supplies again basic feed to the cow. As indicated by the interruptedlines, the cow spends on the feed platform 1 a certain second span oftime in which she is able to consume the basic feed until she reachesthe exit 16. In this span of time the cow is not milked. In theembodiment shown, the span of time is selected in such a way (forexample by properly selecting the length of the feed platform 1) thatthe orifices of the teats of the cow will be closed when the cow reachesthe exit 16. In the embodiment shown, for this second span of time aduration of approximately 20 minutes is selected. In this second restingzone there may be performed, if desired, a leg-treatment or aback-brushing of the cow. When a cow reaches the exit 16, the feedtrough 10 is moved in the direction away from the feed platform 1 andthe cow leaves the feed platform 1. The total time the cow has spent onthe feed platform 1 amounts to approximately 40 minutes.

It will be obvious that, in addition to a continuous movement, anintermittent movement of the feed platform may be applied as well withinthe scope of the invention.

FIG. 3 is a diagrammatic plan view of a part of a second embodiment ofan assembly according to the invention. In this embodiment, the movablefeed platform 91 is substantially disc-shaped. The feed platform 91 isprovided with separation means 92 for partially separating cows. Theseparation means 92 adjoin a cow only on one side, so that a cow is notconfined by the separation means 92. The feed platform 91 comprisesfeeding places, each having a feed trough 93 that is arranged in such away that a cow is standing on the feed platform 91 under an angle withthe radial. Owing to this, rotation of the shown feed platform 91 isonly possible in one direction.

Via an entrance 94 and an exit 95 the cows are able to board or todebark from the feed platform 91 only one by one. At the entrance 94there is arranged an animal-recognition device 96 by means of which theidentity of a cow in the entrance 94 can be determined. An assembly oftwo gates 97, 98 may be controlled by means of a feeding system controlunit (not shown in the drawing) in such a way that a cow will possiblyleave the entrance 94 sidewards without having boarded the feed platform91.

Analogously, in the exit 95 there is disposed an assembly of two gates100, 101, controlled by an animal-recognition device 99, for separatingcows.

Although not shown in FIG. 3, all components of the feeding system (feedstorage and the like) and the milking system (teat cups and the like)are located beside the edge of the feed platform 91 that is free fromteat cups. Between the exit 95 and the entrance 94 there may be arrangeda cleaning device, as will be described hereinafter.

Since the feed platform 91 is provided with separation means 92 thatadjoin a cow only partially, a cow is able to walk freely to any feedtrough 93 upon boarding the feed platform 91. It has been found that acow usually chooses the most nearby feed trough 93. In the embodimentshown, however, there is disposed a deterring device 102 for deterring acow in order to prevent a cow from moving freely across the feedplatform 91. In the embodiment shown, the deterring device 102 isconstituted by guiding gates that are disposed stationarily, relative tothe entrance 94, above the feed platform 91. A cow is thus preventedfrom crossing the transition of the feed platform portion 103 that isadjacent to the entrance 94 at the ends of the platform portion 103 inthe direction of rotation of the feed platform 91 or in oppositedirection. Analogously, there is provided such a deterring device 104 atthe platform portion 105 that is adjacent to the exit 95.

FIG. 4 is a diagrammatic plan view of a part of a third embodiment of anassembly according to the invention. In this case the movable feedplatform 106 is substantially annular. The feed platform 106 has anumber of feeding places, each provided with its own feed trough 107that is disposed in such a way that cows, when eating from the feedtrough 107, are standing substantially radially on the feed platform106.

Analogously to the embodiment according to FIG. 1, the embodimentaccording to FIG. 4 has an entrance 108 that is sufficiently wide toenable simultaneous access of several cows to the feed platform 106. Theentrance 108 is adapted to be closed by a gate 109, which is under thecontrol of a non-shown control unit.

The exit 110 also has a width that suffices to enable simultaneous exitof several cows from the feed platform 106. In contrast with theentrance 108, the exit 110 is free from a closing device, so that cowsare able to leave freely the feed platform 106.

The feed platform 106 is free from confining means for confining cows,so that the cows are able to walk freely to one of the feed troughs 107via the entrance 108. Analogously to the embodiment of FIG. 3, there isprovided a deterring device 111, 112 to prevent cows from crossingfreely the transition of the platform portion adjacent to the entrance,respectively the exit.

Between the exit 110 and the entrance 108, there is arranged a cleaningdevice 113 (to be described hereinafter) for the feed platform 106.

In the embodiment shown, inside the annular feed platform 106 four feedstorage containers 114, 115, 116, 117 are arranged stationarily. Arotatable feed gripping arm 118 is controlled by a (non-shown) feedingsystem control unit to convey feed from one (or more) of the feedstorage containers 114, 115, 116, 117 to a feed trough 107. The feedstorage containers 114, 115, 116, 117 are provided with feed via aprovisioning system 119 that extends above the feed platform 106.

When a cow has boarded the feed platform 106, she will successively passthrough the following zones, which are shown in FIG. 4 at the outer edgeof the annular feed platform 106: a brushing zone 120, a feeding zone121, a milking pre-treatment zone 122, a main milking zone 123, and afeeding zone 124. Analogously to the embodiment as described withreference to FIGS. 1 and 2, the feed gripping arm 118 conveys aparticular minimum amount of feed to the feed troughs 107 before thefeed troughs become accessible via the entrance 108. It is detected by(non-shown) animal-recognition units whether a cow is present at aparticular feed trough 107 and, if this is the case, a complete amountof feed is supplied to the relevant feed trough 107.

After the entrance zone a cow enters the brushing zone 120 where theback of the cow is brushed by a (non-shown) cow brush, in order to makethe cow feel at ease. Then the cow enters a feeding zone 121 where notreatment is performed on the cow and where she can eat quietly. Theteats of a cow are cleaned in the milking pre-treatment zone 122,analogously to the embodiment according to FIGS. 1 and 2, then the teatcups are connected in the main milking zone 123, after which the milkingcan take place. In this embodiment, no milking post-treatment takesplace and, therefore, the milking of a cow consists of the milkingpre-treatment and the main milking. Also in this case the teat cups arenot located on the feed platform 106, but are arranged beside the outeredge of the feed platform 106.

The feeding zone 124 is dimensioned in such a way that the orifices ofthe teats of a cow will close, and in this embodiment no treatment isperformed on the cow in said zone. In said feeding zone 124 the cow caneat quietly, after which she can leave the feed platform 106 via theexit 110.

FIG. 5 is a diagrammatic plan view of a part of a fourth embodiment ofan assembly according to the invention. The movable feed platformcomprises an outer annular platform unit 125 having an edge 126 locatedon the outer side and having an inner edge 127, and an inner platformunit 128 having an outer edge 129 that is located at some distance fromthe inner edge 127 of the outer platform unit 125. The feed platform isarranged in such a way that, when a cow is eating at a feeding place,her front legs are standing on the inner platform unit 128 and her hindlegs are standing on the outer platform unit 125. The outer platformunit 125 and the inner platform unit 128 are synchronously rotatable.Although the inner platform unit 128 is annular in this embodiment, itwill be obvious that in an alternative, non-shown embodiment the innerplatform unit may also be designed as a disc-shaped one. Owing to thefact that the outer platform unit 125 and the inner platform unit 128are disposed remotely from each other, it is possible to disposecomponents of in particular the milking system between the platformunits 125, 128, as will be explained hereinafter in further detail.Other devices, such as for example a leg-treatment device, may also bearranged between the platform units 125, 128.

Analogously to the embodiment of FIG. 4, the feed platform 125, 128 asshown in FIG. 5 is free from confining means for confining cows,although this embodiment of the invention may also be applied withconfining means being provided. In this embodiment the assembly has anentrance 130 respectively an exit 131 that are both sufficiently wide toallow simultaneous access respectively exit of several cows. Both theentrance 130 and the exit 131 are free from a closing device, such as agate, so that the cows are allowed freely to board and to debark fromthe feed platform 125, 128. The feeding places 132 on the feed platformare arranged in such a way that the cows are standing at leastsubstantially radially on the feed platform during eating.

In the embodiment shown in FIG. 5, the assembly is provided with a firstbridging element 133 for forming a bridge between the outer platformunit 125 and the inner platform unit 128, which first bridging element133 is arranged at the entrance 130. A second bridging element 134 isarranged at the exit 131. The bridging elements 133, 134 ensure that acow can normally board and debark from the feed platform. Outside theentrance 130 and the exit 131, between the platform units, there may bearranged a screen declining towards the outer edge 129, so thatimpurities, if any, will not fall between the feed platform units 125,128.

In the embodiment shown in FIG. 5, there is provided a third bridgingelement 135, which functions as a support for an autonomous teat cupconnecting robot to be described hereinafter.

Also in this embodiment, the assembly is provided with deterring devices136, 137, 138, 139 preventing cows from walking on the platform beyondthe entrance and the exit when boarding the feed platform and debarkingfrom the feed platform.

In the embodiment as shown in FIG. 5, only one sort of feed is suppliedon the feed platform. For this purpose, there is provided a silo 140 asa feed storage container, and a conveyor 141 whose end 142 is rotatablein order to supply feed to feeding places 132 on the feed platform. Inthe embodiment shown, the feed platform 125, 128 is the only feedingarea that is freely accessible to cows. The feeding system furthercomprises a feeding place 144, such as for example a feeding column,controlled by a control unit 143 which, with the aid of ananimal-recognition unit 145, decides on whether or not admitting a cowto the controlled feeding place 144. Said controlled feeding place 144is arranged separately from the feed platform and is used to supplyadditional feed to cows, and, if desired, to supply certain additives,such as medicines and the like, mixed with the feed, to particular cows.

Analogously to the embodiment as described with reference to FIG. 4,before reaching the milking zone 146 and after having left the milkingzone 146, a cow has a span of time on the feed platform in which she isnot milked and is able freely to consume feed. In the embodiment shown,the total span of time of these resting zones is approximately twice thetime a cow spends in the milking zone 146. In this embodiment, themilking zone 146 is subdivided into a pre-treatment zone 147, a mainmilking zone 148 and a post-treatment zone 149 in which the teats of acow are disinfected.

Between the exit 131 and the entrance 130 there is arranged an automaticcleaning device 150 for cleaning the feed platform, as will be explainedhereinafter in further detail.

A fifth embodiment of an assembly according to the invention is showndiagrammatically in plan view in FIG. 6. In this embodiment, the movablefeed platform 151 is annular and has an outer edge 154 and an inner edge155. The feed platform 151 comprises feeding places 156 with feedtroughs 163 located at the inner edge 155 of the feed platform 151. Thefeed platform 151 is free from confining means for confining cows.

In an area 152 the cows are allowed to move freely. Via an entrance 153the cows are allowed to walk from the area 152 to the feed platform 151.The entrance 153 has a width that is sufficiently large to enablesimultaneous access of several cows to the feed platform 151, and isfree from a closing device. The feed platform 151 is free from sets ofteat cups.

In the embodiment shown in FIG. 6 there is provided a locking feedinggate 157 for locking a cow at a feeding place 156. Although the lockingfeeding gate 157 may be a self-closing locking feeding gate known perse, the locking feeding gate 157 according to this embodiment iscontrolled by a locking control unit 158 (see FIG. 7 b) for controllingthe locking feeding gate 157. The locking function of the lockingfeeding gate 157 is capable of being activated and deactivated by thelocking control unit 158. The locking control unit 158 obtains data fromcameras 159 (see FIG. 7 a) which detect whether a cow is eating at afeed trough 163. Alternatively, the locking control unit 158 may obtaininformation for activating the locking function from animal-recognitionunits which are disposed per feed trough 163 and which are capable ofdetermining whether a cow is present at a feed trough 163. Furthermore,a weighing device for weighing feed in the feed trough, which weighingdevice is capable of supplying information about whether or not feed isconsumed from a feed trough, may be applicable within the scope of theinvention for supplying information to the locking control unit. It willbe obvious that within the scope of the invention other forms of lockinga cow at a feeding place may be applied as well, a neck-locking being inparticular preferable for the purpose.

The locking feeding gate 157 will be explained in further detail withreference to FIGS. 7 a and 7 b. The locking feeding gate 157 extendsnear the inner edge 155 over all juxtaposed feeding places 156. Thelocking is realised by a bar 160 that is movable into differentpositions. In the various positions of the bar 160 a cow is eitherlocked or released (in one of these positions the head of a cow is“forced” upwards, and in a vertical position of the bar the cow isreleased without being “forced” in a particular direction). FIG. 7 bshows a control device 161 (in the form of a cylinder piston) forcontrolling the bar 160 into a relevant position. As described brieflyin the foregoing, it is advantageous if the locking control unit 158 foractivating or deactivating the locking obtains information from ananimal position determining device, such as for example a camera. Thisanimal position determining device is capable of determining theposition of the cow relative to the bar 160. With the aid of thisinformation the bar 160 may then be moved into the relevant position.

FIGS. 8 a to 8 g show diagrammatically an embodiment of a feeding placeto be used in the embodiment of the assembly as shown in FIG. 6. Thefeeding place 156 comprises an entrance opening 162 for a cow andcomprises a feed trough 163 having a shape that widens from the entranceopening 162.

With the aid of side flaps 164 the feeding place 156 is designed in sucha way that the ears of a cow are covered when she is eating from thefeed trough 163, thus rendering the feed trough 163 soundproof. Thisprevents the cow from perceiving disturbing ambient sounds. In each sideflap 164 there is disposed a loudspeaker 165 that is connectable to a(non-shown) sound generating device. Via the loudspeakers 165 calmingsounds or sounds stimulating the milking process may be offered to thecow.

A feed trough 163 is supported by a supporting structure 166 which isstationarily arranged inside the feed platform 151 and which comprisesan inner annular guide bar 167 and an outer annular guide bar 168 bywhich the feed trough 163 is supported. The feed trough 163 is confinedby the feeding place 156 in such a way that the feed trough 163 movesalong the guide bars 167, 168 when the feed platform 151 is moving. Inorder to prevent unnecessary wear, both the guide bars and the feedtrough are made of wear-resistant material having a low coefficient offriction, such as for example Teflon or the like. Alternatively, thefeed trough 163 may be provided with wheels or roller bearings promotingthe displacement of the feed trough 163 along the guide bars.

In the embodiment shown in FIGS. 8 c and 8 d, there is provided aweighing area 169 at the circumference of the supporting structure 166.In the case of said weighing area 169 both the inner and the outer guidebars 167, 168 extend downwards as far as the point where the feed trough163 is supported by a balance 170 for weighing the feed trough 163including its contents. The balance 170 may be of any known type andsupplies weighing information that is sent to a non-shown feeding systemcontrol unit. It is pointed out that for the balance any form of torquemeter may be used, the feed trough 163 being capable of being broughtinto contact with the torque meter.

The distance between the guide bars 167, 168 may change in certainplaces at the circumference, so that the feed trough 163 is tiltableabout a horizontal axis. In FIG. 8 e the inner guide bar 167 has beenmoved in height relative to the outer guide bar 168 to increase theirmutual distance. Feed can thus slide downwards from the feed trough 163and be collected in a device 168 a for collecting remaining feed. Ofcourse, in the mechanical reversal the outer guide bar 168 may belowered to increase the distance from the inner guide bar 167.

FIG. 8 f shows the situation in which the outer guide bar 168 is in ahigher position than the inner guide bar 167. This makes the feed trough163 tilt in such a way that a cow has no longer access to the feed thatmay be present therein. This position may be used to stimulate cows toleave the feeding place.

It will be obvious that within the scope of the invention other closingmeans for closing the feed trough for cows may be applied as well. Aseparate closing device that is movable across the entrance opening,such as a cover or the like, may for example be applied.

Furthermore, it will be obvious that the invention is not limited tofeed troughs that are tiltable by means of guide bars, but that otherembodiments of tiltable feed troughs may be applied as well within thescope of the invention. Such an alternative embodiment is showndiagrammatically in FIG. 8 h.

This FIG. 8 g shows diagrammatically a feed conveying device 171 thatconveys feed and/or drink (the term feed will be used hereinafter forthe sake of simplicity, although it will be obvious that feed and/ordrink is meant) in metered portions to a feed trough 172. An entranceopening 173 allows a cow access to the feed trough 172. Ananimal-recognition unit 174 is integrated in the feeding place andrecognizes a particular cow that is present at the feed trough 172 andsupplies a signal to a non-shown feeding system control unit thatcontrols the feed conveying device 171 in such a manner that a correctamount is supplied to the feed trough 172. The feeding place is providedwith means for weighing the feed present in the feed trough 172. Withthe aid of said means it is possible to determine how much feed isconsumed by a particular cow, and at the same time whether remainingfeed is present in the feed trough 172. In the embodiment of a feedtrough 172 as shown diagrammatically in FIG. 8 g, the means for weighingthe feed present in the feed trough comprise a movable feed trough 172.The feed trough 172 is moved in a reciprocating manner by a motor 175driving a roll 176, so that the feed trough 172 is tiltable, inparticular rotatable, about an axis 178. This movement generates atorque whose magnitude is determined by a device 177 for measuring themagnitude of the torque. From the torque determined the device 177deduces the weight of the feed present in the feed trough 172. The exactcorrelation between torque and amount of feed may previously bedetermined by means of simple calibration tests. The motor 175 formoving the feed trough 172, the device 177 for measuring the magnitudeof the torque during moving, and the animal-recognition unit 174 aredisposed immediately below the entrance opening 173. Owing to the factthat the feed trough 172 is movable, the feed trough 172 is able tofunction itself as closing device for the entrance opening 173. In orderto prevent that, in the position in which the feed trough 172 closes theentrance opening 173, feed will fall from the feed trough 172, the feedunit 172 is provided with a wall portion 179 for catching remainingfeed. The motor 175 drives the roll 176, which roll 176 contacts thefeed trough 172. Although for the roll 176 a separate torque roll may beused, the roll 176 preferably performs both the function of driving thefeed trough 172 and the function of torque roll or measuring roll. Ofcourse, in an alternative embodiment, the torque may be measured bymeans of said motor 175 itself. By a proper selection of the axis ofrotation 178, the degree of tilt of the feed trough 172 is determined bythe amount of feed in the feed trough 172. The roll 176 may then be usedfor measuring the degree of tilt of the feed trough 172.

As shown in FIG. 6, the feed platform 151 has platform portions 180, 181that are each time adjacent to the entrance 153 or the exit 182. Saidplatform portions 180, 181 are no fixed portions on the feed platform151, but are those portions of the feed platform 151 that are adjacentto the entrance 153 and the exit 182. Viewed in the direction ofrotation of the feed platform 151 and opposite to the direction ofrotation of the feed platform 151, said platform portions 180, 181 havetransitions 183, 184, 185, 186 at their ends. As shown diagrammaticallyin a perspective view in FIG. 9, there is each time provided astationary, pivotable gate 187, 188 as a deterring device for deterringa cow from crossing the relevant transition 183, 184. A pivotable gate187, 188, as shown in FIG. 9, can be opened by pressure of a cow that islocked at a feeding place 156, as a result of the rotation of the feedplatform 151, and subsequently pivots into the closed position, forexample by spring pre-tension. It will be obvious that the invention isnot limited to the embodiment of a deterring device shown in FIG. 9, butthat other deterring devices may be applied as well within the scope ofthe invention. The deterring devices at the transitions 184, 185 mayalternatively be designed as immovable ones, so that it is impossiblefor a cow to be present between said transitions.

Such an alternative deterring device is shown in a diagrammatic,perspective view in FIG. 10 a. The deterring device shown here comprisesa lowered ceiling 189 that is preferably somewhat higher than the heightof the biggest cow of the herd. In many cases, such a lowered ceiling,in particular if the space under the ceiling is darkened, alreadyensures per se a sufficiently deterring effect. In the embodiment shown,a curtain 190 in the form of juxtaposed lamellas 191 is suspended fromthe lowered ceiling, which ensures a sufficiently deterring effect. Itwill be obvious that other forms of curtains, which are, moreover,suspended from a normal, i.e. not lowered, ceiling, may be applied aswell within the scope of the invention. At the transition 183, cameras192 and ultrasonic sensors 193 are suspended for monitoring the platformportion 180. Said detectors may detect for example whether a cow thatcrosses the transition 183 is actually locked by the locking feedinggate 157. If this is not the case, the movement of the feed platform 151may be stopped and an alarm signal may be sent, if desired, to theoperator of the assembly. To improve the safety of the cows, there arealso provided pressure sensors 194 that are capable of detecting whethera cow by the movement of the feed platform 151 is unintentionallypressed against the lowered ceiling 189 or other stationary partsadjacent to the feed platform 151.

A further alternative embodiment of a deterring device is shown in adiagrammatic perspective view in FIG. 10 b. In this figure the deterringdevice comprises a closing device in the form of an operated slidingdoor 195, i.e. a door whose size is variable. Also in this case thereare provided cameras 196, IR-detectors 197 and pressure sensors 198. Inan open position the sliding door 195 is slid in completely outside thefeed platform 151 and in a closed position the sliding door 195 is slidout completely over the feed platform 151. The sliding door 195 isusually closed and is only opened upon detection (with the aid of forexample the cameras 196 or the IR-detectors 197) that a cow approachingthe sliding door 195 is locked at the locking feeding gate 157, whichmay also be determined for example by the cameras 196 or by ananimal-recognition unit in co-operation with a locking control unit.Consequently, the sliding door 195 will not be opened for a non-lockedcow. In order to improve the safety of the cows, the pressure sensors198 are also disposed on the relevant side of the sliding door 195. As afurther alternative, FIG. 10 c shows a rotatable gate 199 whose verticalbar of rotation 199 a is located in the immediate vicinity of the outeredge of the feed platform 151. Alternatively, a rotatable gate (or arotatable door) may be rotatable about a horizontally disposed bar ofrotation. The gate portions or door portions extending away from the barof rotation may be designed, if desired, so as to be slidable in orfoldable in.

It will be obvious that there is provided a control unit thatsynchronizes a drive unit of the rotatable door with the drive unit ofthe feed platform.

FIGS. 11 a and 11 b show a diagrammatic, partially cross-sectional view,respectively a diagrammatic, perspective view of a feed supply station200 of a first embodiment of a feeding system of an assembly accordingto the invention. As shown in FIG. 6, said feed supply station 200 isarranged stationarily on the inner side of the annular feed platform151, and in the present embodiment it is suitable for supplying aminimum amount of roughage to each passing feed trough 163. This meansthat an amount of roughage is supplied to each feed trough 163, so thata cow, when boarding the platform portion 180 (FIG. 6), will find feedin each feed trough 163, and the cows are thus enticed by the freelyobtainable feed to go to the feed platform 151.

The feed supply station 200 has a feed storage container 201 in whichthe roughage can be replenished by means of a provisioning system 202.The feed storage container 201 is disposed on a carrier frame 212, sothat the feed storage container 201 is located above the feed troughs163, as a result of which transport of feed from the feed storagecontainer 201 to the feed trough 163 can take place with the aid ofgravitational force. The provisioning system 202 comprises a rail system203 extending from above the feed storage container 201 to above a placewhere a large amount of roughage is present, which place is regularly,for example manually (or mechanically or automatically), replenished. Afeed gripper 204 is movably suspended from the rail system 203, forexample by means of rolls. By means of a displacing structure 205, forexample an accordion-like supporting structure, the feed gripper 204 issuspended movably in height, so that the feed gripper 204 can be moveddownwards for gripping feed at the storage place, and for moving thefeed gripper 204 to immediately above the feed storage container 201, sothat, when the feed gripper 204 is opened, the feed is conveyed to thefeed storage container 201 via a small drop height. During thedisplacement along the rail system 203 the feed gripper 204 ispreferably kept at the highest possible level. The movement of the feedgripper 204 is controlled by a controlled drive unit, which obtains forexample information from an ultrasonic sensor 206 that measures theheight of the roughage in the feed storage container 201. When theheight in the feed storage container 201 has come below a particular,preferably pre set, threshold, the feed gripper 204 is controlled insuch a way that it will take feed from the storage place. It will beobvious that the control preferably takes place by a feeding systemcontrol unit or a central control unit. Furthermore, it will be obviousthat other means for determining the contents of the feed storagecontainer may be applied as well within the scope of the invention. Forexample, weighing devices, cameras and the like may be applied.

The feed supply station 200 comprises a conveying device 207 forconveying the feed from the feed storage container 201 to a feed trough163. In the embodiment shown, the conveying device 207 is capable ofbeing synchronized by a (non-shown) drive unit with the drive unit ofthe feed platform 151. Said drive unit may be connectable to the controlunit of the feed platform, so that the supply end 208 of the conveyingdevice 207 moves along with the feed trough 163 during the supply offeed to the feed trough 163. When the minimum amount of feed has beensupplied, the drive unit is controlled in such a way that the conveyingdevice 207 is moved to the next feed trough 163 opposite to thedirection of movement of the feed platform 151. With the aid of the datain relation to the speed of movement of the feed platform 151, thefeeding system control unit is capable of determining how far theconveying device 207 has to be moved backwards to be disposed above afeed trough 163 and it controls the drive of the conveying device 207accordingly. Depending on the magnitude of the minimum amount, in analternative embodiment, the supply end 208 of the conveying device 207may be designed as a stationary one. The time during which a feed trough163 passes under the supply end 208 is sufficient for supplying theminimum amount. The synchronization of the supply moments with themoment when the feed trough 163 is present under the supply end 208 canbe detected and controlled both mechanically and electromagnetically.

In the embodiment shown in FIGS. 11 a and 11 b, the conveying device 207comprises a first conveyor 209, which is constituted by an auger.Alternatively, as a first conveyor, a gripper, belt conveyor or anyother device known per se for conveying feed may be used. The firstconveyor 209 conveys roughage from the feed storage container 201 inupward direction for obtaining a highly accurate metering. The firstconveyor 209 comprises a supply end that coincides with an outlet 210 ofthe feed storage container 201.

From the outlet 210 of the feed storage container 201 feed falls into areceptacle 211. Therefore, the receptacle 211 is disposed under theoutlet 210. The receptacle 211 is provided with a weighing device to bedescribed hereinafter in further detail for weighing feed present in thereceptacle 211 and has a bottom which is adapted to be opened. When theweighing device detects that the minimum amount of feed is present, thisis transferred to the control unit that stops the drive of the firstconveyor 209. When it has been established that the supply end 208 islocated above a feed trough 163, then, under the control of the controlunit, the bottom of the receptacle 211 is opened, so that feed istransferred to the relevant feed trough 163 via a second conveyor 213,constituted by a tube-shaped chute or a channel-shaped chute, disposedunder the receptacle 211. Immediately after the bottom has been opened,it can be closed again, and the first conveyor 209 can again convey feedto the receptacle 211, so that the receptacle 211 can soon bereplenished to the minimum amount.

As shown in FIG. 6, a further feed supply station 214 is locatedopposite the entrance 153. With the exception of the aspects to bedescribed hereinafter, said feed supply station 214 is identical to thefeed supply station 200. As described in the foregoing, the assembly asshown in FIG. 6 is provided at each feed trough 163 with a (non-shown)animal-recognition unit. When, as described in the foregoing, a cow hasboarded the platform portion 180 and is eating at a feed trough 163 andis locked there, the control unit of the feed supply station 214 iscontrolled in such a way that a complete portion of roughage is suppliedto that cow (the size of the portion being individually adaptable, ifdesired). Therefore, the conveying device of the feed supply station 214is movable to be able to provide, as shown in the embodiment, five feedtroughs 163 with feed. It is pointed out that the complete portion ofroughage is not only dependent on the identity of a cow, and inparticular her feed consumption rate, but also on the length of theresting zone that follows the entrance, as will be describedhereinafter. The size of the portion is attuned in such a way that itmay be expected that the cow will eat her portion at least almostcompletely when she is present in that first resting zone.

Although the supply end of the conveying device of the feed supplystation 214 may be provided with an animal-recognition unit, partiallywith the aid of which the drive of the conveying device is controlled sothat the supply end above the relevant feed trough 163 will supply thecorrect amount of roughage, in this embodiment it has been decided todispose stationary platform position detectors 215 opposite the entrance153 in order to supply the relevant cow with a correct amount of feed.In the embodiment shown in FIG. 6, each feed trough 163 on the feedplatform 151 has a specific identification, such as a number, forexample 163-01 to 163-48, as shown in the drawing. This identificationis also included, for example, in the animal-recognition unit that isdisposed at the relevant feed trough. Consequently, when a cow has beenlocked at a feed trough, it is known at which feed trough a cow ispresent. Since the feed platform 151 is rotating, it is not possible toknow, without additional data, the spatial position of the feed trough,and consequently of the cow, relative to a stationary point. For thispurpose, there are provided platform position detectors 215 that areable to establish, in co-operation with the animal-recognition units,the position of a particular feed trough. In combination with the datafrom the drive unit of the feed platform, this enables the feedingsystem control unit to know at all times the spatial position of a feedtrough and a cow eating there. Said position data may not only be usedfor the control of the feed supply station 214, but also for latertreatments.

When a cow has crossed the transition 183, she enters a first restingzone 216. In the embodiment shown, the first resting zone 216 coversfour feeding places 156 and the span of time a cow spends on the feedplatform 151 in the first resting zone 216 is dependent on the speed ofmovement of the feed platform 151. In the embodiment shown, the span oftime a cow spends in the resting zone amounts to approximately 3 minutesand 20 seconds. In this span of time the cow is not milked and, in thisembodiment, no treatment at all is performed on the cow.

The first resting zone 216 is followed, as shown in FIG. 6, by themilking pre-treatment zone 217 where a milking pre-treatment to beexplained hereinafter in further detail may be performed on the cows. Onthe inner side of the annular feed platform 151 a concentrate supplystation 218 is located in the milking pre-treatment zone 217. Saidconcentrate supply station 218 is shown diagrammatically in FIG. 12 a.

The concentrate supply station 218 comprises a framework 219 which isdisposed, in the embodiment depicted in FIG. 12 a, around a central axis220. On the upper side of the framework 219 are located five feedstorage containers (two of which, 221, 222, are shown). Four of thosefeed storage containers contain different sorts of concentratecomponents, whereas the fifth feed storage container contains roughage.On the basis of the established animal identity, a milking systemcontrol unit is capable of determining whether or not a cow is to bemilked. If this is the case, the concentrate supply station 218 may becontrolled in such a way that the correct amount and the correct mixtureof concentrate is supplied to the relevant cow. If a cow is not to bemilked, the concentrate supply station 218 is controlled in such a waythat roughage is supplied to the relevant cow.

For the installation of the feed storage containers 221, 222 there aremade not further shown provisions on the framework 219. Each feedstorage container 221, 222 is provided with a first conveyor 223, 224for conveying feed from a feed storage container 221, 222 in upwarddirection, which results in a highly accurate metering. The firstconveyors 223, 224 have a supply end 225, 226 that coincides with anoutlet 227, 228 of the feed storage containers 221, 222. In theembodiment shown, the feed storage containers 221, 222 are disposedaround the central axis 220. From the outlets 227, 228 the feed fallsinto a receptacle 229 for collecting and weighing the amount of feed.The receptacle 229 has a bottom which is adapted to be opened. From thereceptacle 229 the feed is conveyed to the relevant feed trough via amovable tube-shaped chute 230 or channel-shaped chute. The tube-shapedchute 230 is drivable and is controlled partially with the aid of datafrom the feeding system control unit. In the embodiment shown, thetube-shaped chute 230 is movable across three feeding places. In theembodiment shown, the control of the provisioning system forreplenishing the feed storage containers is performed with the aid of acamera 231 and associated picture-recognition software.

For conveying feed to the tube-shaped chute 230, the receptacle 229 hasa bottom which is adapted to be opened. In the embodiment shown in FIG.12 b, this is achieved in that the bottom of the receptacle 229 isconstituted by two halves 233, 234 that are pivotable about an axis 232.When the halves 233, 234 move away from each other, there is thuscreated a fall opening 235 through which the feed falls into thetube-shaped chute 230. A drive element 236 controls the opening of thebottom. The drive element 236 is controlled by the feeding systemcontrol unit. The receptacle 229 is provided with a weighing device 237known per se for measuring feed present in the receptacle 229. Theweighing device 237 may be a load cell on which the receptacle 229 bearsvia for example a leaf spring 238 and a set of bars 239.

In the milking pre-treatment zone 217 a cow to be milked is subjected toa pre-treatment. As shown diagrammatically in FIG. 6 and more in detailin FIG. 13 a, for this purpose there is provided a stationary milkingpre-treatment device 240 for performing a milking pre-treatment on a cowon the feed platform 151. In the embodiment shown, the milkingpre-treatment is performed with the aid of cleaning cups 241 aspre-treatment equipment. The cleaning cups are capable of cleaning,massaging and/or stimulating the teats of a cow in a manner known perse. The cleaning cups 241 are carried by a pre-treatment equipmentcarrier 242, which is arranged stationarily beside the feed platform151. In the embodiment shown, the sets of cleaning cups 241 are disposedat the circumference of a common, cylindrical support 243. Said support243 constitutes a closed path and is movable by means of a non-showndrive unit in such a way that a set of cleaning cups 241 is movable intoa position from which the set can be taken from the carrier 242 and beconnected to the teats of a cow. A set may comprise one to four cleaningcups. The milking pre-treatment device 240 further comprises astationarily arranged connection unit 245 which is provided with agripping device 246 comprising a robot arm 247 whose end is providedwith a gripper 248 for gripping a pre-treatment tool 241. A device 249for determining the position of a teat of a cow is disposed on the robotarm 247. Such a device may be provided in a manner known per se with alaser, ultrasonic sensors, cameras and the like. Said device may also beused for gripping a cleaning cup 241 (or a complete set of cleaningcups) that are carried by the carrier 242. When the gripper 248 of thegripping device 246 has gripped a cleaning cup 241, the robot arm 247 iscontrolled in such a way by a control unit 244 that is in connectionwith the milking system control unit, that the cleaning cup 241 isconnected to a teat of a cow and is thus brought into contact with theteat of a cow. It will be obvious that the device 249 may also be usedfor determining whether the teats have actually sufficiently beencleaned by the cleaning cups 241. If this is not the case, a cleaningcup 241 may be connected again to the relevant teat. When a teat has notbeen cleaned sufficiently after a certain number of attempts, a signalthat prevents the cow from being milked will be sent to the milkingsystem control unit. Consequently, the invention also relates to anassembly or a device for automatically milking a cow, which device isprovided with means for automatically cleaning a teat, and with meansfor determining the degree of cleaning or the degree of contamination ofa teat after the cleaning has been performed, and for supplying acleanliness signal, the automatic milking of a cow being performed independence on the cleanliness signal.

Via non-shown lines for supplying cleaning fluid, the cleaning cups 241are connected to a source of cleaning fluid that is arranged inside thesupport 243. For this purpose, the lines extend through the support 243.It is pointed out that other components of the cleaning device 240, suchas a vacuum pump for keeping the cleaning cups connected to the teats,are also accommodated inside the support 243. Furthermore, the controlunit 244 is capable of controlling the cleaning in such a way that percow a cleaning attuned to that cow is performed.

When the relevant teats have been cleaned, the cleaning cups 241 aredisconnected from the teats by removing the vacuum, and the cleaningcups 241 are withdrawn to the support 243 by withdrawing devices knownper se.

Used cleaning cups 241 are cleaned and disinfected, if desired, by a cupcleaning device 250, which comprises a rotatable robot arm 251 with aspraying device 252 provided at its end. The movement of the robot arm251 and the activation of the spraying device 252 are controlled by themilking system control unit. The robot arm 251 is provided with a devicefor determining the position of the cups. It will be obvious that otherembodiments of pre-treatment tools, such as brushes, sprayers and thelike, may be applied as well within the scope of the invention, whilefor the cleaning of the tools, besides spraying, other ways ofperforming, such as steam disinfection, immersion in disinfectant fluidsand the like, while possibly heating the fluid and possibly complementedwith a drying step, may be applied as well within the scope of theinvention.

It is pointed out that the cleaning cups 241 are arranged separatelyfrom the feed platform 151, and that the number of sets of cleaning cupsis considerably smaller than the number of feeding places 156.Furthermore, it is pointed out that, within the scope of the invention,the pre-treatment is considered as belonging to the milking.

After the cow has passed through the pre-treatment zone 217 and theteats of a cow to be milked have been cleaned, the cow enters the mainmilking zone 253 (FIG. 6 and FIG. 13 a), in which an automatic device254 for connecting teat cups 255 and a milking device 256 are disposed.It is pointed out that the invention is not limited to automaticallyconnecting teat cups and automatically milking cows, but also relates toany other form of connecting and milking.

The teat cups 255 are arranged in sets of four separately from the feedplatform 151. In the embodiment shown, the number of sets of teat cupsis eight, although for the sake of clearness of the drawing only foursets are shown in FIG. 13 a, which number is considerably smaller thanthe number of feeding places.

The sets of teat cups 262 are each carried by a stationarily arrangedteat cup carrier 257. The teat cup carriers 257 are collectivelysupported by a common, cylindrical support 258. Analogously to thesupport 243 for the cleaning cups, said support 258 is rotatable, sothat the teat cups 255 are movable into a position in which they arecapable of being taken from the carrier for connection to the teats of acow. For this purpose, a drive unit of the support 258 and consequentlyof the teat cup carrier 257 is controlled by the milking system controlunit. On the inner side of the support 258 various components of themilking device are disposed, as will be described with reference toanother embodiment of an assembly according to the invention as shown inFIG. 13 b.

In the embodiment shown, the connection device 254 for automaticallyconnecting a set of teat cups 262 to the teats of a cow comprises arotatable robot arm 251 provided at its end with a gripper for grippinga teat cup 255 (alternatively a set of teat cups 262), and a device fordetermining the position of a teat, which device may also be used fordetermining the position of a teat cup 255 on the carrier 261. It ispointed out that other constructions and robot arms for automaticallyconnecting a teat cup to a teat may be applied as well within the scopeof the invention. When the milking has been finished, as may be detectedfor example by a milk flow meter that establishes whether the milk flowhas come below a particular threshold, the teat cups 255 aredisconnected and withdrawn to the support 258. The cup cleaning device250 is used for cleaning and possibly disinfecting the teat cups afterthe milking has been finished.

In an alternative embodiment of a milking system of an assemblyaccording to the invention, analogously to the embodiment as shown inFIG. 13 a, there are used teat cup carriers 261 for carrying sets ofteat cups 262 each comprising four teat cups, which teat cup carriers261 are disposed on a common, rotatable support 260. The support 260 issupported on the ground by wheels 263 (FIG. 13 c) which are driven by anon-shown drive unit under the control of a control unit. In theembodiment shown, each teat cup 255 is connected to a teat cup line 264that extends towards an inner side of the support 260. Such a teat cupline 264 comprises at least one milking vacuum line and one pulsationline.

Inside the support 260 there is arranged a ring line 265 (FIG. 13 b) towhich the teat cup lines 264 are connectable. To the ring line 265 arealso connected a milking vacuum source 266 and a pulsation vacuum source267, which are also arranged on the inner side of the support 260. Thering line 265 is also connectable to a discharge line 268 fordischarging milk to a non-shown milk tank, which discharge line 268 isalso arranged inside the support 260. Before the milk reaches the ringline 265, the measuring devices 269 measure the value of milkparameters, such as for example conductivity, cell count, temperature,etc. Depending on the measurement result, the milk can be discharged tothe ring line 265, or be conveyed to a container for milk that is notsuitable for human consumption. For this purpose, the milking system isprovided with non-shown switching devices that are known per se.Furthermore, said switching devices may be adjusted by default in such away that foremilk is always discharged to the container or a comparableoutlet. In the embodiment shown, the measuring devices 269 are alsoarranged inside the support 260. An alternative cleaning device for theteat cups, to be described hereinafter, is indicated diagrammatically inFIG. 13 b by reference numeral 270. The drive unit of the support 260 isattuned by the relevant control units to the drive unit of the feedplatform.

In contrast with the embodiment as shown in FIG. 13 a, the connectiondevice according to the embodiment of FIG. 13 c is an autonomous, mobileconnecting robot 271, which will be described hereinafter in furtherdetail. Because of the fact that the connecting robot 271 is movable inall directions, in contrast with the embodiment of FIG. 13 a, acomplicated robot arm for connecting the teat cups is no longernecessary. FIG. 13 c shows diagrammatically the situation in which theautonomous connecting robot 271 takes a teat cup from the teat cupcarrier 261.

FIG. 13 d shows a further embodiment of an assembly according to theinvention. In this embodiment, as a connection device is used a movableconnection device 272 for connecting a set of teat cups 280 to the teatsof a cow. Said connection device 272 is movable in a reciprocatingmanner in a groove or channel 273 disposed beside the feed platform 151.The channel 273 extends at least over the area of the main milking zone274, but, in the present embodiment, also extends over the pre-treatmentzone 275 and the post-treatment zone 276, so that the connection device272 may also be used for connecting the pre-treatment equipment and/orthe post-treatment equipment.

The channel 273 extends at least substantially parallel to the outeredge of the feed platform 151 and comprises on its bottom a rail 277along which the connection device 272 is capable of moving. Because ofthe fact that the connection device 272 moves via a rail 277, andconsequently is not freely movable, in contrast with the embodiment asshown in FIG. 13 c, there is not provided a particular navigation devicefor navigating and controlling the movable connection device 272. On thecontrary, the movable connection device 272 does comprise a robot arm278 carrying a gripper 278 a for gripping a teat cup, but said robot arm278 may be of a simpler construction than that in FIG. 13 a because ofthe movability of the connection device 272 along the rail 277. Themovable connection device 272 is also provided with a teat positiondetermining device for determining the position of a teat of a cow,which device is also used for determining the position of a teat cup inthe teat cup carrier 261.

In the embodiment of a milking system of an assembly according to theinvention shown in FIG. 13 d, analogously to the embodiment as shown inFIG. 13 a, there are used movable teat cup carriers 279 for carryingsets of teat cups 280 each comprising four teat cups. In thisembodiment, the movable teat cup carriers 279 are disposed movably on arail 281 and are driven by a drive unit 282 under the control of anon-shown control unit that is connectable to a milking system controlunit or a central control unit. The rail 281 forms a closed rail pathextending partially at least substantially parallel to the outer edge ofthe feed platform 151.

In the embodiment shown, each teat cup is connected to a teat cup line283 that extends towards the inner side of the rail path support 260.Such a teat cup line 283 comprises at least one milking vacuum line andone pulsation line. Inside the rail path there is arranged a ring line284 to which the teat cup lines 283 are connectable. To the ring line284 are also connected a milking vacuum source and a pulsation vacuumsource, collectively indicated by reference numeral 285, which are alsoarranged on the inner side of the rail path. The ring line 284 is alsoconnectable to a discharge line for discharging milk to a non-shown milktank, which discharge line is also arranged (at least partially) insidethe rail path. Before the milk enters the ring line 284, the measuringdevices 286 measure the value of milk parameters, such as for exampleconductivity, cell count, temperature, etc. Depending on the measurementresult, the milk can be discharged to the ring line 284, or be conveyedto a container for milk that is not suitable for human consumption. Forthis purpose, the milking system is provided with non-shown switchingdevices that are known per se. Furthermore, said switching devices maybe adjusted by default in such a way that foremilk is always dischargedto the container or a comparable outlet. In the embodiment shown, themeasuring devices 286 are also arranged inside the rail path. The driveunit of the support 260 is attuned by the relevant control units to thedrive unit of the feed platform 151.

The same cup cleaning device 250 as described with reference to FIG. 13a is provided for cleaning and possibly disinfecting the teat cups.

FIG. 13 e shows a part of an embodiment of an assembly according to theinvention, which assembly is in particular suitable for use with a feedplatform as described with reference to FIG. 5. In the embodiment shown,the movable feed platform comprises an outer annular platform unit 125and an inner platform unit 128 that are disposed remotely from eachother. The feed platform is arranged in such a way that, when a cow iseating at a feeding place, her front legs are standing on the innerplatform unit 128 and her hind legs are standing on the outer platformunit 125, as shown diagrammatically. The outer platform unit 125 and theinner platform unit 128 are synchronously rotatable.

Below the feed platform there is arranged a teat cup carrier 287 thatfunctions also as a connection device for the teat cups 288 (only oneteat cup being shown for the sake of simplicity of the drawing). Theteat cup carrier 287 is movable in height, so that the teat cup 288 ismovable from a first lower position, in which the teat cup 288 islocated below the feed platform, into a second position, in which theteat cup 288 extends to above the feed platform. A device 289 fordetermining the position of a teat is disposed on the upper side of theteat cup carrier 287. In the embodiment shown, the device 289 determinesthe position of a teat by means of an ultrasonic signal. The device 289is disposed pivotably in two directions, so that the teats of the cowcan be detected in any desired place. The teat cup 288 is supported byan axially movable support 290. The displacement of the support 290 maybe controlled, so that the teat cup 288 can be brought at any desiredheight above the feed platform. The support 290 is fastened to a firstframe 291 that is pivotably fastened to a second frame 292. The pivotaxis 293 is disposed obliquely in such a way that it extendsapproximately through the middle between the two platform units 125,128, which is also the case with pivot 294 by means of which the secondframe 292 is fastened to a main frame 295. In this manner the support290 is capable of pivoting in such a way that the open area between theplatform units 125, 128 is always located in line with the support 290,so that when moving the teat cup 288 upwards, it can always be movedthrough a relatively small opening between the platform units 125, 128.The pivoting movement of the support 290 takes place by two driveelements 296, 297. The drive element 297 is fastened with one side tothe main frame 295 and with its other side to the second frame 292, andthe drive element 296 is fastened with one side to the second frame 292and with its other side to the first frame 291. By controlling thelength of the drive elements 296, 297, the support 290 can be pivoted inany desired direction. The support 290 can be displaced in axialdirection by means of a guide element 298, the displacement beingoperated via drive unit 299. For this purpose, the drive unit 299 isfastened with one side to the first frame 291 and with its other side toa lever 300, which lever 300 is fastened with one side to the end of thesupport 290 and with its other side to the first frame 291 via anintermediate bar 301. It will be obvious that, by lengthening orshortening the drive unit 299, the support 290 will be moved in axialdirection by means of the guide element 298. It is pointed out that themain frame 295 can be arranged stationarily, so that at least at theconnection of the teat cups 288 the movement of the feed platform has tobe stopped, but that, alternatively, the main frame 295 can movetemporarily along with the feed platform.

The teat cup 288 is located on the upper side of the support 290, whichteat cup 288 with the necessary lines, of which teat cup line 302 isshown, is connected to the necessary equipment. Analogously to theembodiment as described in FIGS. 1 and 2, this equipment is locatedbelow the feed platform. The necessary measuring instruments and sensorsmay be disposed near the teat cup 288, in order to be able to measurethe milk immediately after it has left the udder. The entire teat cupcarrier 287 with integrated connection device can be controlledautomatically by means of a non-shown control unit, it being possible torecord all measurement data and to compare them with other measurementresults.

It will be obvious that, in case the feed platform is constituted by twoplatform units disposed remotely from each other, other components ofthe milking system and the feeding system, or another device such asleg-sprayers and the like, may also be arranged below the feed platform,in particular in such a way that they extend or are movable anyhow toabove the feed platform. It is also possible to dispose the teat cupcarriers, the support, the connection devices and the cleaning devicesas described with reference to the previous embodiments, below the feedplatform. In this manner it is even possible that the feed platform isprovided with gripping elements for gripping the movable components, sothat these components are moved forward by the feed platform itself. Thegripping elements are capable of being deactivated, so that the relevantcomponent can be detached from the feed platform. It is further possibleto provide a single annular feed platform with slides that are locatedbetween the front legs and hind legs of a cow when a cow is eating at afeed trough. These slides may be operated (mechanically or otherwise) atconvenient moments to provide an opening for components located belowthe feed platform.

As shown in FIGS. 6 and 13 a, after the main milking zone 253, the cowenters a milking post-treatment zone 303 which, in the embodiment shown,extends over five feeding places 156. In the embodiment shown, thepost-treatment is performed by disinfection cups 304 carried bydisinfection cup carriers which are disposed on a common support 305 andare connected to the teats of a cow with the aid of a connection device306. The construction of the post-treatment device is analogous to thatof the pre-treatment device, so that a further description is consideredas superfluous.

The post-treatment zone 303 is followed by a second resting zone 307, asshown in FIG. 6. In the embodiment shown, this second resting zone 307extends over fourteen feeding places 156. At the transition to thesecond resting zone 307, inside the annular feed platform 151, there isarranged a roughage supply station 308 that supplies a portion ofroughage to an occupied feeding place 156 analogously to the feed supplystation 200 as described with reference to FIG. 11 b. The portion sizeof the roughage is attuned to the expected eating rate of the cow (onthe basis of historical data) and the expected length of stay of a cowin the second resting zone. It is pointed out that in different placesalong the inner circumference of the feed platform the supportingstructure 166 may be designed in such a way that the weight of the feedpresent in a feed trough 163 can be determined. On the basis thereof thefeed consumption and consequently the eating rate of a cow can bedetermined in a simple manner. It may also be ensured that at atransition between zones, for example the transition to the secondresting zone, the concentrate present is removed from the feed trough163 by tilting the feed trough 163 and is collected and possiblyprocessed by a suitable device. The second resting zone 307 isdimensioned in such a way that it is expected that the orifices of theteats of a cow will close at least for the greater part. When a cow ispresent in the second resting zone 307, where the time required for theclosing of the teat orifices (on the basis of historical data) is longerthan the time required by the feed platform 151 to pass through thesecond resting zone 307 at a normal speed of movement, the speed ofmovement can be reduced temporarily. The closing of the teat orificesmay be promoted, if desired, by blowing cold air on the teats, which airis for example approximately 5° C. to 10° C. colder than the ambientair. There is provided a protection that prevents spraying of too coldair, which would be harmful to the teats. Therefore, the invention alsorelates to a method of performing a post-treatment of the teats of a cowafter the milking of a cow, which method comprises the step of blowingfresh air on the teats of a cow.

In the embodiment shown in FIG. 6, there is arranged a stationaryleg-treatment device 309 at the outer circumference of the feed platform151. Said leg-treatment device may comprise for example a stationaryspraying device which is activated by default when an occupied feedingplace passes the sprayer. Alternatively, the spraying device may beprovided with a device for detecting the contamination of a leg of a cowor the condition of a leg, and performing a leg-treatment in dependencethereon. In this case, for example adding particular fluids ormedicaments may be taken into consideration.

The second resting zone 307 is followed by the platform portion 181where the cow can leave the feed platform 151 via the exit 182. The exit182 is sufficiently wide to allow several cows simultaneous exit and isfree from closing means.

In some cases it is desirable to separate a particular cow. As shown inFIG. 6, such a separation may take place on the feed platform 151 bymeans of a separation device 310 that separates a cow from the feedplatform 151 to a separation area 311. An embodiment of such aseparation device 310 is shown diagrammatically in a perspective view inFIG. 14. The separation device 310 is controlled by a separation controlunit 312. This separation control unit 312 is suitable for receiving aseparation signal indicating which cow is to be separated. This signalmay originate from the milking system control unit, but may also be sentremotely to the separation control unit 312, for example by an operatorof the assembly. For this purpose, the separation control unit 312comprises a transmitter/receiver known per se. When a cow is present inthe separation area 311, a signal may be supplied to the operator or tothe milking system control unit.

The separation device 310 comprises a cage-like construction 313 and adisplacing device 314 for the cage, so that the cage 313 can be placedover a cow. The displacing device 314 comprises a drive unit 315. Thedisplacing device 314 is designed in such a way that the cage 313 iscapable of being displaced both transversely to a usual direction ofmovement of the feed platform 151 and along with the usual direction ofmovement of the feed platform 151. In the embodiment shown, thedisplacing device 314 comprises a first rail 316 which extends above thefeed platform 151 and, as shown, partially follows the same path as thefeed platform 151. The cage 313 is movably suspended, transversely tothe normal direction of movement of the feed platform 151, from a secondrail 318 by means of a first suspension structure 317, which second rail318 is suspended itself from the first rail 316 by means of a secondsuspension structure 319. The cage 313 is dimensioned in such a waythat, when it has been placed over a cow, this cow has only littlefreedom of movement. After placement over the cow a possible locking ofthe cow at the feeding place 156 is discontinued. At the front side ofthe cage 313 there is provided an operable confining device (for examplea sliding-door-like structure) for confining the cow. By moving the cage313 to the outer side, the cow may be forced into the separation area311, where the gate 319 at the rear side of the cage 313 is opened.

For an animal-friendly separation the drive unit 315 of the displacingdevice 314 is capable of being synchronized with the drive unit of thefeed platform 151.

FIG. 15 shows diagrammatically in side view an alternative embodiment ofa cleaning device 270 for the cleaning of cups in an assembly accordingto the invention. The cup cleaning device 270 comprises a carrier frame320 for the cleaning elements. The carrier frame 320 comprises a singlerail 321 (which may possibly have a curved shape) along which a carrier322 for the cleaning elements may be moved. The carrier frame 320comprises a beam 323 extending substantially parallel to the rail 321. Asensor 324, for example comprising a laser, is disposed on the support322 for the cleaning elements. With the aid of this sensor 324 it ispossible to determine the position of the cups to be cleaned.Furthermore, a drive unit 325 of the support 322 is preferablysynchronized with the movement of the cups to be cleaned (in the casethey are moving), so that the cups to be cleaned can be followed.

The cleaning elements comprise a spraying member 326 for cleaning theexterior of the teat cups and, if desired, the milk circuit connectedthereto and a cleaning member 327 for cleaning only the teat space, i.e.the interior, of the teat cups. Both the spraying member 326 and thecleaning member 327 are fastened to the support 322. The cleaning deviceas shown in FIG. 15 is provided in a customary manner witha—non-shown—rinsing circuit. This rinsing circuit is constituted by arinsing fluid reservoir, a rinsing fluid supply line connected thereto,which rinsing fluid supply line leads to the cleaning member 327, therinsing circuit further being constituted by the parts of the device forautomatically milking that are connected to the cleaning member 327during rinsing, i.e. the teat cups, the milk lines connected thereto anda milk glass into which these milk lines debouch. The outlet from themilk glass is provided in a customary manner with a pump and a cock tolead the milk to a milk tank during the milking and to lead the cleaningfluid back to the rinsing fluid storage vessel during the rinsing of theteat cups, the milk lines connected thereto and the milk glass.

Through the vacuum in the milk glass and the milk lines connected to theteat cups the rinsing fluid is sucked in from the fluid storage vesseland brought into the teat cups via the cleaning member 327 and then ledback to the rinsing fluid storage vessel with the aid of a pump includedin the discharge line of the milk glass. In this manner known per se theteat cups and the milk lines connected thereto and the milk glass arecleaned. Each time after a cow has been milked the teat cups are cleanedin order to reduce the risk of cross-infection. The cleaning of the teatcups immediately after the milking may also take place selectively forspecific cows. In particular if an increased milk conductivity value isestablished by milk conductivity sensors during the milking, which maybe an indication of a latent mastitis, it is desirable to clean the teatcups immediately after the milking. The cleaning member 327 is used forthis purpose. Said cleaning member 327 is provided with four tube-shapedelements 328. For the cleaning of a cup its position is established withthe aid of the sensor 324, and the tube-shaped elements 328 are movedabove the teat cups, in particular in such a way that there is provideda narrow outlet opening between the open ends of the teat cups andprotecting elements that are disposed at the upper side of thetube-shaped elements 328. The tube-shaped element 328 is provided nearits lower side with preferably radial outlet openings. Said outletopenings debouch into the teat space of a teat cup disposed around thetube-shaped element 328, in particular at such a distance from the openend of the teat cup that, if a teat would have been inserted into theteat cup, the insertion depth of this teat is less far than the placewhere the outlet openings debouch into the teat space. The lower end ofthe tube-shaped element 328 has such a shape that, when a vacuum isapplied to the milk line connected to the teat cup, the teat liner,which is made of a flexible material, is sucked in, in particular insuch a way that the outlet from the teat space to the milk lineconnected to the teat cup is closed below the lower end of thetube-shaped element. The tube-shaped element 328 is connected at itsupper end to a cleaning fluid supply line 329. When solely the teat cup,i.e. the teat cup liner, is to be cleaned, a tube-shaped element 328 isinserted into a relevant teat cup, after which by applying a vacuum inthe milk line connected to the teat cup, air is sucked off as a resultof which the teat cup is closed near its lower side, i.e. below the endof the tube-shaped element 328, so that, when cleaning fluid is led viathe cleaning fluid supply line 329 through the tube-shaped element 328,this fluid is pressed upwards via the outlet openings and is dischargedoutwards through the outlet opening via the open end of the teat cup andthe relatively narrow space between the upper side of the teat cup andthe protecting element. This cleaning may take place with the aid ofheated water having a temperature of above 70° C. and preferably above80° C., so that the bacteria present on the teat cup liner inside theteat cup are killed. It is also possible to use a cleaning fluid,constituted by water having a temperature between 30° C. and 50° C., towhich a cleansing agent and/or a disinfectant have/has been added. Inthat case, after the teat cup has been cleaned with the aforementionedcleaning fluid, the teat cup should be rinsed with the aid of pure mainswater, after which the teat cup is dried by pressing air through theline and the tube-shaped element 328. During this cleaning the cleaningelements move along with the teat cups (if the latter should move).

The spraying member 326 comprises four spraying nozzles, each of whichbeing provided near its lower side with preferably radially orientatedoutlet openings, via which a cleaning fluid is directed towards theexterior of the teat cups. The spraying nozzles may be designed, ifdesired, as rotatable and/or controlled ones.

After the cows have left the feed platform 151 via the exit 182, thefeed platform 151 is cleaned by a stationarily arranged cleaning device330, as shown in FIG. 6. The cleaning device 330 is active in the areabetween the transitions 185 and 184 and cannot be boarded by a cow.Consequently, the cleaning device 330 is disposed, viewed in thedirection of movement of the feed platform 151, between the exit 182 andthe entrance 153. Some components of the cleaning device 330 aresurrounded by a cleaning area 331 which is accessible to an operator viaa door 332.

The cleaning device 330 is controlled by a cleaning control unit 333, asshown diagrammatically in FIG. 6, so that the cleaning device 330 can beactive fully automatically. With reference to FIGS. 16 a and 16 b anembodiment of the cleaning device 330 will be explained in furtherdetail.

The cleaning device 330 as shown in FIGS. 16 a and 16 b has a width offour feeding places 156. The cleaning device 330 may be suspended from aceiling of a stable in which the assembly is located or may be arrangedon the floor of the stable by means of a suitable support. In particularif the feed platform 151 is free from confining means for confiningcows, the constructional design of the cleaning device 330 may besimple. In the embodiment shown, the cleaning device 330 is providedwith two carrying bars 334, 335 extending at least substantiallyparallel to each other and parallel to the usual direction of movementof the feed platform 151. In the embodiment shown, the carrying bars334, 335 extend as straight ones, but they may alternatively be curved.The carrying bars 334, 335 are interconnected by four pairs of slidingbars 336, 337, 338, 339 extending substantially transversely to thenormal direction of movement of the feed platform 151. Two manure slides340, 341 are disposed one behind the other between the first pair ofsliding bars 336. The manure slides 340, 341 are slidable independentlyof each other along the sliding bars 336, and are capable of beingbrought into contact with the feed platform 151. The first manure slide340 is provided with tines 342 or other projections in order to be ablebetter to detach impurities from the feed platform 151. The manureslides 340, 341 are each arranged under an angle relative to the usualdirection of movement of the feed platform 151. For the sake ofsimplicity of the drawing, the drive unit of the manure slides 340, 341is not shown, but is designed in such a way that the manure slides aremoved away from the feed troughs 163, so that the manure slides 340, 341slide manure into a manure collecting device 343. When moving back themanure slides 340, 341, they are first moved upwards, so that they donot contact the feed platform 151. Furthermore, the manure slides 340,341 are cleaned by a (non-shown) spraying device when they are locatedabove the manure collecting device 343.

Between the second pair of sliding bars 337 there is disposed a movablespraying device 344 comprising a number of juxtaposed sprayers 345 forspraying and/or squirting a fluid on the feed platform 151. The fluid issprayed on the feed platform 151 under high pressure by means of anon-shown pump. The fluid may be heated periodically by a heatingelement in order to obtain a better cleaning. The spraying device 344 ismoved across the feed platform 151 by a non-shown drive unit in adirection away from the feed troughs 163, so that the fluid is sprayedin a direction of a fluid collecting device 346. In order to preventthat fluid is unintentionally moved sidewards, the sliding bars 337 areprovided at their lower sides with splash guards extending as far as thefeed platform 151. The fluid collecting device 346 is provided with areuse device known per se for making the fluid suitable for reuse. It ispointed out that the cleaning control unit 333 preferably activates thesprayers 345 only when they are moved away from the feed troughs 163 anddeactivates them when they are moved towards the feed troughs 163.

Between the third pair of sliding bars 338 there is disposed a movable,rotatable cleaning brush 347 which is also capable of being brought intocontact with the feed platform 151. The cleaning brush 347 is alsocapable of being moved away from the feed troughs 163 in the directionof a residual impurities collecting device 348, and is moved fromcontact with the feed platform 151 before the cleaning brush 347 ismoved back to the feed troughs 163. The cleaning brush 347 is arrangedunder an angle relative to the usual direction of movement of the feedplatform 151.

Between the fourth pair of sliding bars 339 there is provided a movabledrying device 349 comprising juxtaposed blow nozzles 350 for drying thefeed platform 151. The drying device 349 is movable across the feedplatform 151 in a direction transversely to the normal direction ofmovement, and is disposed under an angle relative to said direction ofmovement. The air blown through the blow nozzles 350 may be pre-heatedunder the control of the control unit 333. It will be obvious that otherdrying devices, such as heat radiating devices and the like, may beapplied as well within the scope of the invention.

It is pointed out that each of the collecting devices is provided withan outlet for discharging impurities. Furthermore, in the embodimentshown, there are provided some cameras 351, 351 a for determining thedegree of contamination of the platform. The contamination detected bythe cameras 351, 351 a may be used by the cleaning control unit 333 forcontrolling the functioning of the cleaning device 330.

FIG. 17 shows diagrammatically in plan view a further embodiment of anassembly according to the invention, in which an annular feed platform352 co-operates with inter alia freely movable teat cup carriers, aswill be explained hereinafter in further detail. The movable feedplatform 352 has an outer edge 353 and an inner edge 354. The feedplatform 352 comprises feeding places 355 with feed troughs 356 locatedat the inner edge 354 of the feed platform 352. The feed platform 352 isfree from confining means for confining cows.

In an area 357 the cows are allowed to move freely. Via an entrance 358the cows are allowed to walk from the area 357 to the feed platform 352.The entrance 358 has a width that is sufficiently large to enablesimultaneous access of several cows to the feed platform 352, and isfree from a closing device. The feed platform 352 is free from sets ofteat cups.

In the embodiment shown in FIG. 17 there is provided a locking feedinggate 359 for locking a cow at a feeding place 355. Although the lockingfeeding gate 359 may be a self-closing locking feeding gate known perse, the locking feeding gate 359 according to this embodiment iscontrolled by a locking control unit 158 (see FIG. 7 b) for controllingthe locking feeding gate 359. The locking function of the lockingfeeding gate 359 is capable of being activated and deactivated by thelocking control unit 158. The locking control unit 158 obtains data fromcameras 159 (see FIG. 7 a) which detect whether a cow is eating at afeed trough 356. Alternatively, the locking control unit may obtaininformation for activating the locking function from animal-recognitionunits which are disposed per feed trough and which are capable ofdetermining whether a cow is present at a feed trough. Furthermore, aweighing device for weighing feed in the feed trough, which weighingdevice is capable of supplying information about whether or not feed isconsumed from a feed trough, may be applicable within the scope of theinvention for supplying information to the locking control unit. It willbe obvious that within the scope of the invention other forms of lockinga cow at a feeding place may be applied as well, a neck-locking being inparticular preferable for the purpose.

The constructional design of the feeding places 355 is equal to thatdescribed with reference to FIGS. 8 a to 8 g. As shown in FIG. 17, thefeed platform 352 has platform portions 361, 362 that are each timeadjacent to the entrance 358 or the exit 360. Said platform portions361, 362 are no fixed portions on the feed platform 352, but are thoseportions of the feed platform 352 that are adjacent to the entrance 358and the exit 360. Viewed in the direction of rotation of the feedplatform 352 and opposite to the direction of rotation of the feedplatform 352, said platform portions 361, 362 have transitions 363, 364,365, 366 at their ends. Analogously to the embodiment as described withreference to FIG. 6, each transition is provided with a deterring devicefor deterring a cow from crossing a relevant transition.

Centrally inside the annular feed platform 352 there is arranged a feedsilo 367 comprising several feed storage containers 368 disposed arounda central axis. Each feed storage container 368 may contain a differentsort of feed. Each feed trough 356 is provided by a feed supply station369 with a minimum amount of roughage before the feed trough 356 islocated opposite the entrance 358. In the embodiment shown, the feedsupply station 369 comprises a self-propelled (autonomous) mobile feedsupplying robot 369, as will be explained in further detail withreference to FIG. 18.

The feed supplying robot 369 is suitable for gripping, with the aid of amovable feed gripper 370, a particular amount of feed from a feedstorage container 368 and for conveying it to a feed trough 356.According to the invention, the mobile feed supplying robot 369 is aself-propelled (i.e. autonomous) robot, which means that the robot hasthe possibility of choosing freely in which direction it is going tomove. This implies that the robot is not only capable of moving in areciprocating manner via rails or the like. For moving and controllingthe mobile feed supplying robot 369 there is provided a (non-shown)feeding system control unit. This control unit receives information fromnavigation means that are partially disposed in the feed supplying robot369. These navigation means comprise position determining means 371 fordetermining the position of the mobile feed supplying robot 369 in theassembly. Such position determining means 371 are known per se and arenot described in further detail for the sake of simplicity. There isonly depicted an aerial 373, which is connected to an internal controlunit 372. The mobile feed supplying robot 369 further comprises anorientation device 374 in the form of an ultrasonic sensor formonitoring the environment immediately in front of the robot 369. Underthe control of the feeding system control unit the feed supplying robot369 is moved to a relevant feed trough and, by opening the feed gripper370, drops the minimum portion of roughage into said feed trough. Inorder to be able to supply the feed more correctly, a carrying arm 375for the feed gripper 370 is rotatably disposed about an axis of rotation376, the rotation being synchronized with the movement of the feedplatform.

Furthermore, the mobile feed supplying robot 369 is provided with itsown energy supply 377, in particular a rechargeable energy supply, whichwill be explained hereinafter in further detail. In the embodimentshown, the mobile feed supplying robot 369 is provided with wheels 378that are driven by an electric motor 379 which is driven under thecontrol of a microprocessor 380 that receives data from the positiondetermining means 371 and the orientation device 374.

In order to prevent damage caused by collisions, the mobile feedsupplying robot 369 is provided with a proximity detector, in theembodiment shown constituted by the orientation device 374, fordetecting the proximity of an object. When an object comes too near anda collision threatens to take place, then a protecting device 381 forprotecting at least a part of the robot 369 can be brought from aninactive position into an active protecting position. In this caseinflatable or shiftable protecting means may be used. Bringing aprotecting device from an inactive position into an active protectingposition is controlled with the aid of data from the proximity detector374. Such a proximity detector is known per se and may alternativelycomprise a camera, an approach sensor or the like.

The mobile feed supplying robot 369 is further provided with amalfunction detector (known per se and not shown in the drawing) fordetecting an internal malfunction. In case of an occurring or expectedmalfunction, an alarm-signal-issuing device can issue an alarm signal.

As will be described hereinafter in further detail with reference toFIG. 25, the assembly comprises cameras (or comparable following means)for monitoring the assembly and following mobile units (in particularcows and mobile robots) in the assembly. Such cameras with associatedsoftware in the computer system can be used for monitoring the assembly,and for identification, orientation and position determination of themobile units in the assembly.

Analogously to the embodiment as shown in FIG. 6, each feed trough 356is provided with a (non-shown) animal-recognition unit. When, asdescribed in the foregoing, a cow has boarded the platform portion 361and is eating at a feed trough 356 and is locked there, a further mobilefeed supplying robot 382 (or, if available, feed supplying robot 369) iscontrolled in such a way that a complete portion of roughage is suppliedto that cow (the size of the portion being individually adaptable, ifdesired). It is pointed out that the complete portion of roughage is notonly dependent on the identity of a cow, and in particular her feedconsumption rate, but also on the length of the first resting zone thatfollows the entrance, as will be described hereinafter. The size of theportion is attuned in such a way that it may be expected that the cowwill eat her portion at least almost completely when she is present inthat first resting zone.

When a cow has crossed the transition 363, she enters a first restingzone 383. In the embodiment shown, the first resting zone 383 coversfour feeding places 355, and the span of time a cow spends on the feedplatform 352 in the first resting zone 383 is dependent on the speed ofmovement of the feed platform 352. In the embodiment shown, the span oftime in which a cow passes through the resting zone amounts toapproximately 3 minutes and 20 seconds. In this span of time the cow isnot milked and, in this embodiment, there is only performed a soakingtreatment on the udder and the teats by means of an autonomous, freelymoving soaking robot 384, which will be described in further detail withreference to FIG. 19. Near the first resting zone 383, beside the feedplatform 352, there is arranged a recharging and storage station 434towards which the soaking robot 384 moves for recharging the energysupply 377 and for replenishing the stock of soaking fluid.

FIG. 19 is a side view of the unmanned, autonomous soaking robot 384,which is provided with wheels 385. The wheels 385 are driven by a(non-shown) drive unit, such as an electric motor. In the presentembodiment, the soaking device of the soaking robot 384 comprises asprayer 386 disposed for example on a telescopic carrier 387. Thesprayer 386 is connected to a container (not shown in FIG. 19) forcontaining soaking fluid, which container is located in the soakingrobot 384. The soaking robot 384 is also provided with a fillingconnection 388, or another connection device, by means of which thecontainer in the soaking robot 384 can be connected to an externalsource of soaking fluid. Furthermore, means 389 for determining theposition of the teats and/or the udder of a cow are not described infurther detail because they belong to the state of the art, for examplethe position determining means as used with milking robots forconnecting the teat cups to the teats. The soaking robot 384 comprisesan identification system, i.e. an animal-recognition unit, 390 known perse for identifying a cow. The information obtained by the identificationsystem may be used for designating those cows whose teats and/or udderare to be treated with soaking fluid. The soaking robot 384 is providedwith a position determining device 391, which may be a radar, aGPS-system component or the like. This makes it possible to determinethe momentary position of the soaking robot 384. In order to movequickly to the location of a cow whose teats and/or udder are to betreated with soaking fluid, the feeding system control unit comprises a(non-shown) transmitting device for transmitting location data to thesoaking robot 384. The soaking robot 384 is provided with a receivingdevice which, in the embodiment shown, is integrated in the positiondetermining device 391 for receiving the location data, which data areused for (roughly) moving the soaking robot 384 to the location. Afurther description of the control of the mobile vehicle is omitted herefor the sake of simplicity, the more as self-propelled mobile vehiclesare known per se in the state of the art. It is pointed out that,besides wheels, other propelling means, such as caterpillar tracks andthe like, may be applied as well within the scope of the invention.

When the soaking robot 384 has arrived at a cow whose teats and/or udderare to be treated with soaking fluid, the soaking robot 384 firstdetermines the position of the teats and/or udder. In the embodimentshown, for this purpose the soaking robot 384 comprises accurate teatposition determining means 389 in the form of picture-recognitionequipment. If there is not provided a locking feeding gate, thispicture-recognition equipment may be used, if desired, for verifyingwhether a cow is standing or lying. If a cow appears to be lying, it ispossible to stimulate the cow, for example by means of a stimulationdevice 392, to stand up, so that the teats and/or the udder becomeaccessible to treatment.

When the position of the teats and/or the udder has been determined, thesprayer 386 may be directed to the teats and/or the udder and be putinto operation. Directing the sprayer 386 may take place by correctlyoperating the wheels 385 or by moving the sprayer 386.

The position determining means 389 with the picture-recognitionequipment may also be used to check whether soaking fluid has beenapplied to the teats and/or the udder of the cow. If it appears that noor not sufficient soaking fluid has been applied, a signal may beissued, so that the sprayer 386 is put into operation again. Besides acamera for picture recognition, an infrared camera may also be used as achecking device. In order to bring the checking device close to theteats and/or the udder, said device is preferably disposed on atelescopic carrier (not shown in the figures).

If the points of time when the teats and/or the udders of cows have beensoaked and the identity of the relevant cows are stored in a memory,these historical data may be used partially for determining the point oftime when the next soaking step is to be carried out on a particularcow. These data may also be used for determining the cow whose teatsand/or udder have to be soaked first. The animal-recognition unit mayalso be used for applying a soaking fluid in dependence on the cow. Forthis purpose, the soaking robot 384 comprises several soaking fluidcontainers.

After having passed through the first resting zone 383 (FIG. 17) the cowenters the first zone of the milking zone 393, which first zone iscalled the pre-treatment zone 394. In the embodiment shown, saidpre-treatment zone 394 covers three feeding places 355. In said milkingpre-treatment zone 394 concentrate attuned to the cow is supplied, underthe control of the feeding system control unit, to the relevant feedtrough 356 by means of the feed supplying robots 431 that are analogousto the feed supplying robot 382. In said pre-treatment zone 394 a cow issubjected to a pre-treatment. Such a pre-treatment is known per se andcomprises cleaning and/or massaging and/or stimulating the teats of acow. In the embodiment shown diagrammatically in side view in FIG. 20, amobile pre-treatment robot 395 comprises a first brush 396 and a secondbrush 397 that are each rotatable about an at least substantiallyhorizontal axis 398, 399. The pre-treatment robot 395 is provided withwheels 400. The wheels 400 are driven by a drive unit 400 a, such as anelectric motor. The pair of brushes 396, 397 is movable in height bymeans of a lifting device 401 comprising a cylinder 402. Moreover, thepair of brushes 396, 397 is rotatable about a vertical axis 403 for thepurpose of being positioned in a correct position relative to a teat ofa cow. The pre-treatment robot 395 comprises a fluid container 404, apump 405 and a line 406 for spraying, if desired or if necessary, afluid on the teats of a cow. In the embodiment shown, the line 406 endsbelow and between the brushes. The fluid container 404 is provided witha non-shown filling connection by means of which the container 404 iscapable of being connected to an external source of fluid. Furthermore,means 407 for determining the position of the teats and/or the udder ofa cow are not described in further detail, since they belong to thestate of the art, for example the position determining means as usedwith milking robots for connecting the teat cups to the teats. Thepre-treatment robot 395 comprises a non-shown animal-recognition unit,known per se, for identifying a cow. The information obtained by theanimal-recognition unit may be used to designate those cows that are tobe milked and whose teats and/or udder are to be pre-treated.Analogously to the soaking robot 384 of FIG. 19, the pre-treatment robot395 is provided with a (non-shown) position determining device, whichmay be a radar, a GPS-system component or the like. This makes itpossible to determine the momentary position of the pre-treatment robot395. In order to move quickly to the location of a cow whose teatsand/or udder are to be pre-treated, the milking system control unitcomprises a (non-shown) transmitting device for transmitting locationdata to the pre-treatment robot 395.

When the pre-treatment robot 395 has arrived at a cow to be pre-treated,the position of the teats and/or the udder is determined by the teatposition determining means 407. When the position of the teats and/orthe udder has been determined, the pair of brushes can be set inrotation and be moved upwards to the teats and/or the udder, so that theteats are cleaned and stimulated between the brushes. If desired, afluid may be applied to the teats in dependence on the cow. The positiondetermining means 407 may also be used to check whether thepre-treatment has been performed correctly. If this appears not to bethe case, there may be supplied a signal so that the pre-treatment isperformed again. It is pointed out that the milking pre-treatment robotis capable of moving to the recharging and storage station 434 that isarranged near the first resting zone 383. This station is also providedwith a stock of fluid for the pre-treatment, in order to be able toreplenish the robot container.

After having passed through the pre-treatment zone 394, the cow entersthe main milking zone 408 (FIG. 17) where teat cups that are arrangedseparately from the feed platform are connected to the teats of the cow.In the embodiment shown, the main milking zone 408 covers seven feedingplaces 355. In the embodiment explained in further detail in FIG. 21 a,the teat cups are carried by an autonomous, mobile teat cup carryingrobot 409. A number, four in the embodiment shown in FIG. 17, of theseteat cup carrying robots 409 are capable of moving freely beside thefeed platform 352. The path shown in FIG. 17 is only an indication ofthe optimum route for connecting the teat cups to be followed by theteat cup carrying robots 409. If necessary, the teat cup carrying robots409 are also capable of moving to a multifunctional station 410comprising inter alia a teat cup cleaning unit where the teat cups canbe cleaned, a milk tank for collecting the milk obtained, and arecharging station for recharging, via a charging port 416, arechargeable energy supply 415 of the teat cup carrying robot 409. Theteat cup carrying robot 409 is shown in side view in FIG. 21 a. In theembodiment shown, the mobile teat cup carrying robot 409 carries fourteat cups 411, two of which are visible in the figure. The teat cups 411are each connected via a teat cup line 412 to a milk storage vessel 414to which the milk is conveyed with the aid of a vacuum pump system 413.The teat cup carrying robot 409 is provided with wheels 418. The wheels418 are driven by a drive unit 417, such as an electric motor. The milkstorage vessel 414 is provided at its lower side with a non-shown milkoutlet through which the milk can be conveyed to a milk tank.Analogously to the soaking robot of FIG. 19, the teat cup carrying robot409 is provided with a (non-shown) position determining device, whichmay be a radar, a GPS-system component or the like. This makes itpossible to determine the momentary position of the teat cup carryingrobot 409. The teat cup carrying robot 409 comprises atransmitting/receiving device 421 for transmitting and receivinglocation data and control commands, as will be explained hereinafter infurther detail.

As indicated in FIG. 17, in the embodiment shown, the milking systemalso comprises a mobile, autonomous teat cup connecting robot 419 whichis shown in further detail in FIG. 21 b. The teat cup connecting robot419 is analogous to the pre-treatment robot 395 as shown in FIG. 20, butcomprises, instead of a pair of brushes, an upwardly movable teat cupgripper 420. Furthermore, the teat cup connecting robot 419 does notcomprise a milk storage vessel. A transmitting/receiving device 422 issuitable for receiving data from the milking system control unit and isconnected to a control unit 423 a, which does not only ensure thecontrol of the displacement of the mobile teat cup connecting robot 419,but also controls the functioning of the teat cup gripper 420. With theaid of the transmitting/receiving devices 421, 422 the teat cupconnecting robot 419 and the teat cup carrying robot 409 are able toco-operate. The teat cup connecting robot 419 is moved to the positionof a cow to be milked. This is possible by displacement across the feedplatform 352 or beside the feed platform 352. At the same time the teatcup carrying robot 409 is moved to a position near the teat cupconnecting robot, so that the teat cup gripper 420 of the teat cupconnecting robot 419 is able to grip the teat cups 411 carried by theteat cup carrying robot 409. For this purpose there is made use of theposition determining means 423 that detect the position of the teat cups411 on the teat cup carrying robot 409 and move the teat cup gripper 420in such a way that the teat cups are gripped. The teat cup carryingrobot 409 and the teat cup gripper are then moved in such a way that ateat cup is located under a teat, after which, by moving the teat cupgripper 420 upwards, the teat cup is connected to the teat throughvacuum. During the connection, the teat cup carrying robot 409 and theteat cup connecting robot 419 continue to move synchronously with eachother and with the feed platform 352, which is achieved by the mutualcommunication by means of the transmitting/receiving devices 421, 422.When all the teat cups have been connected, it is possible for the teatcup connecting robot 419 to move to the next cow to be milked, while theteat cup carrying robot 409 continues to move synchronously with thefeed platform 352 until the milking has been finished, which can takeplace in a customary manner, for example by flow measurement. Althoughin the embodiment shown the co-operation between the teat cup carryingrobot 409 and the teat cup connecting robot 419 takes place directly, itis also possible that the teat cup carrying robot 409 co-operates withthe feed platform 352 and moves synchronously with the feed platform352, for example under the control of a feeding system control unit, andthat the teat cup connecting robot 419 grips the teat cups from the teatcup carrying robot 409 by means of the position determining means. Inthis case, the freely moving, mobile teat cup carrying robot 409co-operates with the feed platform 352.

As an alternative for a separate teat cup carrying robot and a separateteat cup connecting robot, FIGS. 21 c and 21 d show diagrammatically amobile, autonomous teat cup carrying robot 424 with an integrated teatcup connecting device. The robot 424 is provided with a milk storagevessel 425, with energy supply means 426 for the robot and the relevantcomponents, with an underpressure and/or overpressure system 427 forteat cups 428, with (non-shown) milk analysing means, and with(non-shown) navigation means and a control unit for controlling therobot and the relevant components. There is also disposed a positiondetermining device 429 for determining the position of a teat of a cow.Under the control of the milking system control unit, analogously to thecontrol of the soaking robot and the milking pre-treatment robot, therobot 424 is moved to a cow to be milked, where the teat cups areconnected to the relevant teats. The position of the teat relative tothe teat cup 428 is then determined by the position determining device429, such as a laser sensor for detecting the position of the teats ofthe animal to be milked. A lifting device 430 for the teat cup 428 makesit possible for the teat cup 428 to be connected, by means of asubstantially vertical movement, to the teat of the cow.

After the teat cups have been disconnected and the main milking has beenfinished, the cow enters the post-treatment zone 432 (FIG. 17). Here, apost-treatment is performed on the cow, in particular on the teats ofsaid cow, by means of a milking post-treatment robot 433. In theembodiment shown, the post-treatment zone 432 covers five feeding places355. The milking post-treatment robot used in this embodiment isidentical to the milking pre-treatment robot and will, consequently, notbe described again. Near the milking post-treatment zone 432 there isalso arranged a recharging and storage station 435 which is analogous tothe station 434.

The milking post-treatment zone 432 is followed by the second restingzone 436 in which the cow receives roughage by means of one of the feedsupplying robots 437, 438. In the embodiment shown, the second restingzone 436 covers fourteen feeding places 355. In this second resting zone436 there is also performed a leg-treatment by means of a leg-treatmentrobot 439, which is analogous to the soaking robot 384 with theexception that instead of a soaking fluid a leg-treatment fluid is used.Furthermore, the position determining means are programmed in such a waythat they are capable of determining the position of a leg and also thedegree of contamination of the legs, in order that a leg-treatment isperformed depending on the degree of contamination. Furthermore, arecharging and storage station 440, which is analogous to the station434, is arranged near the second resting zone 436.

Analogously to the embodiment as shown with reference to FIG. 6, in theembodiment of FIG. 17 it is possible to separate a cow. This takes placeby means of a separation robot 441, which is shown diagrammatically inFIGS. 22 a, 22 b and 22 c.

FIG. 22 a is a schematic side view of a cow with an embodiment of aseparation robot 441 according to the invention. The separation robot441 is provided with an animal-recognition unit 442 known per se, whichis suitable for co-operating with identification means 443 integrated ina collar of the cow. The separation robot 441 is provided with its ownpropelling means comprising drive means, such as a motor, and steeringmeans, such as swivelling wheels 444. Of course, the device may also beprovided with one swivelling wheel and a number of non-swivellingwheels, and/or be provided with rollers and/or caterpillar tracks and/oran air cushion construction. With the aid of the drive means and thesteering means, the device is suitable for moving across the ground in arolling and/or a hovering manner. The propelling means comprisenavigation means which are suitable for determining a route to befollowed for the separation robot 441 and which are suitable for makingthe separation robot 441 follow a certain route with the aid of thepropelling means. The navigation means known per se may comprise apossibly remotely controllable computer with an input member and GPS orDGPS. In this manner the separation robot 441 is accuratelycontrollable.

The separation robot 441 comprises position determining means 445 forlocalising a selected cow (which means may possibly be suitable forco-operating with position determining means provided near, on or in theanimal, such as transmitting and receiving equipment known per se or GPSor DGPS), and is adapted to approach the selected cow on the basis ofthe data from said position determining means and the data supplied bythe animal-recognition unit 442. It is pointed out here that, asdescribed in the foregoing, upon boarding the feed platform it isregistered at which feeding place a particular cow is standing and atthe same time in what spatial position the feeding place is located. Onthe basis of the current position of the separation robot 441 (forexample a standard non-operative position in the separation area 446;see FIG. 17) and the current position of the selected cow, the centralcontrol unit is capable of establishing a route to be followed and ofcontrolling the propelling means in such a way that the separation robot441 follows the established route. In this manner the cow to beseparated can be found and approached automatically by the separationrobot 441.

The separation robot 441 is provided with a coupling device 447 forcoupling the separation robot 441 to the cow to be separated. Saidcoupling device 447 comprises a pair of gripping arms 448, capable ofbeing folded and unfolded or being slid in and out, which are able togrip the cow on either side of her trunk when the separation robot 441has reached a position under the cow (see also FIG. 22 b). In another,non-shown embodiment, the gripping arm may be suitable for gripping atleast one leg of the cow. When the coupling device 447 has locked thecow, the locking of the cow by the locking feeding gate is discontinued.When the cow is present beside the separation area 446, the separationrobot 441 is controlled in such a way that the cow will enter theseparation area 446 backwards. Hereafter the gripping arms 448 are swungor slid aside, so that the cow is able to move freely in the separationarea. Moreover, it is signalled to the farmer or the operator of theassembly that the cow has been separated successfully. The separationrobot 441 can then move to a next cow to be separated. It is pointed outthat in an alternative, non-shown embodiment, the separation area islocated on the inside of the feed platform 352, so that the cow isdriven into the separation area in forward direction.

This is illustrated in FIG. 22 b which shows diagrammatically a rearview of the cow in the arrangement of FIG. 22 a, FIG. 22 c showing arear view of the arrangement of FIG. 22 a without a cow being presenttherein. It is pointed out that in the separation area 446 there isarranged a recharging station 449 (FIG. 17) for the rechargeable energysupply of the separation robot 441.

In order to stimulate the cows to leave the feed platform 352, the feedis removed from the feed troughs 356 after the locking of a cow at afeeding place 355 has been discontinued. As described in the foregoing,this could be take place by tilting the feed trough, but in theembodiment shown in FIG. 17 this is achieved by a feed supplying robotwhich is programmed in such a way that it removes remaining feed fromthe feed troughs 356. By means of the deterring device disposed at thetransition 365 cows are further stimulated to leave the feed platformdefinitively.

After the cows have left the feed platform 352 (FIG. 17) via the exit360, the feed platform 352 is cleaned in the cleaning zone 450. For thispurpose, in the embodiment as shown in FIG. 17, an assembly according tothe invention comprises three feed platform cleaning robots 451 whichwill be explained in further detail with reference to FIG. 23. It willbe obvious that any other number of feed platform cleaning robots may beapplied as well within the scope of the invention.

FIG. 23 shows diagrammatically in side view an embodiment of anautonomous, mobile feed platform cleaning robot 451 of an assemblyaccording to the invention. The feed platform cleaning robot 451 isprovided with a manure slide 452 for sliding manure and other impuritiesfrom the feed platform 352. The feed platform cleaning robot 451comprises a housing 453 with a chassis that is provided with wheels 454constituting the first supporting point for the chassis, and a furthermanure displacing device 455 constituting a second supporting point forthe chassis. In the embodiment shown, the further manure displacingdevice 455 is also designed as a manure slide. The feed platformcleaning robot 451 is further provided with a protective bracket 457that is rotatable about an axis 456. Each of the wheels 454 is drivenindividually by a motor 458. Driving the wheels 454 at different speedsmakes it possible to steer the feed platform cleaning robot 451. Thefirst manure slide 452 comprises a telescopic carrier 459 that isdisposed in the housing 453 of the feed platform cleaning robot 451 insuch a way that one of its ends is pivotable. Furthermore, in thehousing 453 there are disposed pressure adjusting means 460, one end ofwhich is connected to the housing 453 and whose other end is connectedto the telescopic carrier 459. In the embodiment shown, the pressureadjusting means 460 comprise a cylinder. With the aid of the cylinder itis possible to adjust the force with which the manure slide 452 ispressed on the feed platform 352. In order to increase the pressure ofthe manure slide 452 on the feed platform 352, a weight 461 is disposedabove the manure slide 452. Furthermore, near the manure slide 452 thereare disposed spraying means 462 by means of which fluid is sprayed(possibly under high pressure) on the feed platform 352. If desired, adisinfectant may be added to the fluid for disinfecting the feedplatform 352.

The feed platform cleaning robot 451 is further provided with detectionmeans 463 with the aid of which contaminated parts of the feed platform352 can be detected and with the aid of which it is possible to move thefeed platform cleaning robot 451 correctly across the feed platform 352.In the embodiment shown, the detection means 463 comprise a camera. Thefeed platform cleaning robot 451 is further provided with signal-issuingmeans 464 that issue an acoustic (and possibly an optical) signal inorder that the attention of personnel possibly present in the cleaningarea 465 is drawn to the presence of the feed platform cleaning robot451. It is pointed out that such signal-issuing means may also bedisposed on the other robots.

The feed platform cleaning robot 451 is further provided with a brush467 that is rotatable about an at least substantially horizontal axis466. Analogously to the above-described robots, the feed platformcleaning robot 451 also comprises navigation means for controlling thefeed platform cleaning robot 451, which navigation means comprise, inthe embodiment shown, an aerial 468 for receiving and transmittingsignals.

The robots may further comprise other components that have not beendescribed in further detail in the foregoing. In this case a proximitydetector for detecting the proximity of an object may be taken intoaccount, the proximity detector being possibly constituted by positiondetermining means or by a separate detector, for example an ultrasonicsensor or an approach sensor. The data from said detector may be usedfor the navigation of the relevant robot. A mobile robot may also beprovided with a protecting device 474 (see FIG. 24) for protecting atleast a part of the mobile robot, the protecting device 474 beingcapable of being brought from an inactive position into an activeprotecting position. As a protecting device may be applied for examplean airbag or a telescopic bumper or cap or the like. In this case, it isadvantageous for safety reasons if the protecting device is capable ofbeing brought from an inactive position into an active protectingposition with the aid of data from the proximity detector. Thesignal-issuing device 464 is preferably capable of being activated withthe aid of data from the proximity detector.

In the embodiment shown in FIG. 17, the control of the feed platformcleaning robot 451 is such that the feed platform cleaning robot 451moves transversely to the normal direction of movement of the feedplatform 352, so that manure and other impurities, if any, are displacedaway from the feed troughs 356 to a manure collecting pit 469. Whenbeing displaced in the direction of a feed trough 356, the manure slide452 is lifted by the pressure adjusting means 460 to a level at somedistance above the feed platform 352. Beside the manure collecting pit469, there is provided a path 470 along which the feed platform cleaningrobots 451 are capable of moving into the cleaning area 465 to arecharging station 471 for recharging the rechargeable energy supply ofthe feed platform cleaning robots 451 and for replenishing, ifnecessary, the fluid stock. In the cleaning area 465 there is alsoarranged a cleaning station 472 for cleaning (the exterior and, ifnecessary, the interior of) the feed platform cleaning robots 451. It ispointed out that the pressure adjusting means 460 are partiallycontrolled on the basis of data from the detection means 463, so that,for example in the case of a large amount of detected manure, thepressure exerted by the manure slide 452 on the feed platform 352 may beincreased to achieve a better effect. The detection means 463 are alsoused to check whether impurities have been removed satisfactorily.

It is pointed out that, in an alternative, non-shown embodiment, themobile cleaning robot may comprise a storage container for impurities.The cleaning robot is then capable of conveying the impurities stored tothe manure collecting pit or to an other suitable storage place and/oran outlet for impurities. In this case the assembly is provided with aconveying device for conveying impurities from the storage container tothe storage place and/or outlet for impurities. The storage container isin particular provided with an outlet for impurities.

FIG. 24 shows diagrammatically a partially cross-sectional side view ofa mobile robot, in the embodiment shown the teat cup carrying robot 424with an integrated teat cup connecting device, coupled to amultifunctional robot-treatment station 410. After having milked a cow,the robot 424 moves automatically to the multifunctional robot-treatmentstation 410. In this case there is made use of the position determiningmeans 429. The multifunctional robot-treatment station 410 comprises arecharging device 475 that is capable of being coupled automatically tothe charging port 476 of the rechargeable energy supply 477 of the robot424. There is provided a coupling detector which, upon detection ofcoupling of the recharging device 475 to the charging port 476,activates the recharging.

The multifunctional robot-treatment station 410 also comprises a milkdischarge line 478 for discharging milk from the milk storage vessel 425of the robot 424. The milk discharge line 478 comprises a sensor 479 formeasuring the quality of the milk and for controlling a valve 480, inorder to discharge milk that is suitable for human consumption to a milktank via the milk tank discharge line 481, or alternatively to dischargemilk via another discharge line 482 to another storage container. Themilk discharge line 478 is capable of being coupled automatically to theoutlet 483 of the milk storage vessel 425. Also in this case there isprovided a coupling detector for discharging the milk from the milkstorage vessel 425 after a successful coupling has been detected. In thecase of another robot, such as for example the soaking robot 384, it ispossible to replenish in a similar manner the fluid container of therobot, the fluid then flowing, of course, in the direction towards thefluid container, possibly supported by a pump.

After the milk has been discharged from the milk storage vessel 425, ateat cup cleaning device 484 comprising downwardly directed thornshaving fluid outlet openings at their ends is brought into the teat cups428. The valve 480 is controlled in such a way that cleaning fluid canbe discharged via the other discharge line 482.

The multifunctional robot-treatment station 410 further comprises arobot cleaning device 485 comprising in the embodiment shown a sprayerfor cleaning the robot.

It will be obvious that, depending on the robot, the multifunctionalrobot-treatment station may comprise other components for themaintenance and cleaning of the robot.

FIG. 25 shows diagrammatically in plan view a camera monitoring systemfor a feed platform with position marks 486 according to an embodimentof an assembly according to the invention. The position marks 486 serveas position beacons, so that the camera monitoring system is capable ofexactly determining the rotational position of the feed platformrelative to the stationary world. The camera monitoring system comprisescameras which are disposed above the feed platform and have a field ofvision that is shown in the figure by means of circles 487. The fieldsof vision overlap one another and cover the entire feed platform, thearea on the inside of the feed platform and a strip on the outsidebeside the feed platform. The camera monitoring system is used todetermine and check the exact position of the robots, if any, and todetermine the position of an animal on the feed platform. The data fromthe camera monitoring system may also be used for operating and checkingthe feeding system and/or the milking system.

According to the invention, there is thus provided a method of milking acow in which an assembly with a movable feed platform as described aboveis used. In this method, the movable feed platform is set in motion andthe cow is allowed access to the feed platform, in order that the cowwill spend a particular period of time on the feed platform, after whichthe cow is allowed exit from the feed platform. The speed of movement ofthe feed platform is selected in such a way that it is possible for acow, during her stay on the feed platform, to consume a portion of feedwhose size corresponds to the portion size that is usually consumed bythe cow during a feeding session. Since each cow has her own feedconsumption rate, the speed of movement of the feed platform ispreferably controlled on the basis of the determined animal identity, inorder that also the cows having a slow feed consumption rate will havesufficient time to consume their usual portion. In this case, the speedof movement of the feed platform is controlled on the basis of the cowhaving the slowest feed consumption rate present on the feed platform.

According to the invention, for example in dependence on a milkingcriterion, not every cow present on the feed platform needs to bemilked. If a cow on the feed platform is indeed milked during a milkingperiod, then, according to the invention, there is provided a span oftime on the feed platform in which the cow is not milked, in other wordsis not subjected to a treatment that is customarily associated withmilking. This span of time has a length amounting to at leastapproximately half the milking period. In this manner, the cow willhave, besides the milking which is sometimes experienced as unpleasant,a certain period of rest on the feed platform, which may cause the cowto experience her stay on the feed platform even as pleasant. This spanof time may be selected in dependence on the identity of the cow, thetime needed for the feed consumption being taken into account as well.

If the movable feed platform is moved continuously, the adaptation ofthe speed of movement of the feed platform may take place continuouslyafter a cow has boarded the feed platform. The adaptation may take placeby accelerating or decelerating the feed platform to the new speed ofmovement determined on the basis of the cows present on the feedplatform.

If the movable platform is set in motion intermittently, the span oftime may also be influenced by altering the length of the period of timethe feed platform is immobile. The treatments may also be performed onthe cow when the feed platform is immobile.

As described in the foregoing, it is in particular important that themagnitude of the part of the span of time after the milking is selectedin such a way that the orifice of at least one teat of the animal willbe closed after the span of time has elapsed.

It will be obvious that it is not only possible to determine whether ornot a cow is to be milked on the basis of a milking criterion, but thatit is also possible within the scope of the invention to decide with theaid of a computer which other treatment(s) a cow will or will notundergo on the basis of the determined identity of the cow.

According to the invention, the modular construction of the assembly andin particular the modular construction of the feeding system and themilking system, makes is possible to interchange the various modules,i.e. the components of the assembly. For example, the feed platformaccording to the invention may only be used for feeding animals. Whenleaving the feed platform via the exit, animals may be led to a milkingparlor comprising a milking robot for automatically connecting teatcups. Therefore, the invention is not limited to the above-describedexemplary embodiments, but also relates to all other possiblecombinations of the different components.

Many modifications in addition to those described above may be made tothe structures and techniques described herein without departing fromthe spirit and scope of the invention. Accordingly, although specificembodiments have been described, these are examples only and are notlimiting upon the scope of the invention.

1. An assembly for feeding and milking animals, the assembly comprising:a feeding system comprising a movable feed platform and a drive unit fordriving the feed platform, a number of feeding places being provided onthe feed platform; an area where the animals are allowed to move freely;an entrance from the area to the feed platform, the entrance having awidth that is sufficiently large to enable simultaneous access ofseveral animals to the feed platform; and a milking system comprising aplurality of sets of teat cups disposed substantially separately fromthe feed platform for milking animals on the feed platform duringmovement thereof.
 2. The assembly as claimed in claim 1, wherein theentrance is free from a closing device such that the animals may movefreely from the area to the feed platform.
 3. The assembly as claimed inclaim 1, wherein the number of sets of teat cups is smaller than thenumber of feeding places.
 4. The assembly as claimed in claim 1, whereinthe assembly further comprises a milking pre-treatment device forperforming a milking pre-treatment on an animal on the feed platform,the milking pre-treatment device comprising a pre-treatment toolcarrier, a pre-treatment tool carried by the pre-treatment tool carrier,and a control unit for controlling the functioning of the milkingpre-treatment device.
 5. The assembly as claimed in claim 1, wherein theassembly further comprises a milking post-treatment device forperforming a milking post-treatment on an animal on the feed platform,the milking post-treatment device comprising a post-treatment toolcarrier, a post-treatment tool carried by the post-treatment toolcarrier, and a control unit for controlling the functioning of themilking post-treatment device.
 6. The assembly as claimed in claim 1,wherein the assembly further comprises an exit from the feed platform tothe area where the animals are allowed to move freely, and in that theexit has a width that is sufficiently large to enable simultaneous exitof several animals to the area.
 7. The assembly as claimed in claim 6,wherein the exit is free from a closing device such that animals maymove freely from the feed platform to the area after feeding.
 8. Theassembly as claimed in any claim 1, wherein the assembly furthercomprises a cleaning device for cleaning the feed platform.
 9. Theassembly as claimed in claim 1, wherein the feed platform issubstantially free from confining elements for confining the animals.10. The assembly as claimed in claim 9, wherein the feed platform iscompletely free from confining means.
 11. The assembly as claimed inclaim 1, wherein the feed platform is provided with a locking device forlocking an animal at a feeding place.
 12. The assembly as claimed inclaim 11, wherein the locking device comprises a neck-locking device.13. The assembly as claimed in claim 1, wherein the assembly furthercomprises a separation device for separating an animal standing on theplatform from the other animals and for leading the separated animalaway from the platform.
 14. The assembly as claimed in claim 1, whereinthe movable feed platform comprises an outer annular platform unithaving an outer edge and an inner edge, and an inner platform unithaving an outer edge located at a distance from the inner edge of theouter platform unit, the outer platform unit and the inner platform unitbeing synchronously rotatable.
 15. The assembly as claimed in claim 1,wherein the feeding system comprises a single feeding area that isfreely accessible to the animals, said single feeding area beingconstituted by the feed platform.
 16. The assembly as claimed in claim1, wherein the assembly further comprises position beacons and detectionelements for detecting the locations of the position beacons.
 17. Theassembly as claimed in claim 16, wherein the position beacons comprisemarks made on the feed platform.
 18. The assembly as claimed in claim 1,wherein the drive unit is operational to drive the feed platform at aspeed of movement from approximately 0.05°/s to approximately 0.15°/s.19. The assembly as claimed in claim 1, wherein the drive unit isoperational to selectively drive the feed platform in oppositedirections of movement.